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AP_GPS: add option to set a dedicated line for Moving Baseline Data

This commit is contained in:
bugobliterator 2021-07-26 16:17:06 +05:30 committed by Andrew Tridgell
parent 90c9fb7804
commit ddc50a8420
3 changed files with 5 additions and 4 deletions
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4
libraries/AP_GPS/AP_GPS.cpp
View File

@ -183,7 +183,7 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
// @Param: _AUTO_CONFIG
// @DisplayName: Automatic GPS configuration
// @Description: Controls if the autopilot should automatically configure the GPS based on the parameters and default settings
// @Values: 0:Disables automatic configuration,1:Enable automatic configuration,2:Enable automatic configuration for UAVCAN as well
// @Values: 0:Disables automatic configuration,1:Enable automatic configuration for Serial GPSes only,2:Enable automatic configuration for UAVCAN as well
// @User: Advanced
AP_GROUPINFO("_AUTO_CONFIG", 13, AP_GPS, _auto_config, 1),
@ -300,7 +300,7 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
// @Param: _DRV_OPTIONS
// @DisplayName: driver options
// @Description: Additional backend specific options
// @Bitmask: 0:Use UART2/2nd CAN for moving baseline on ublox/uavcan,,1:Use base station for GPS yaw on SBF,2:Use baudrate 115200
// @Bitmask: 0:Use UART2 for moving baseline on ublox,1:Use base station for GPS yaw on SBF,2:Use baudrate 115200,3:Use dedicated CAN port b/w GPSes for moving baseline
// @User: Advanced
AP_GROUPINFO("_DRV_OPTIONS", 22, AP_GPS, _driver_options, 0),
#endif

4
libraries/AP_GPS/AP_GPS_UAVCAN.cpp
View File

@ -894,14 +894,14 @@ bool AP_GPS_UAVCAN::handle_param_get_set_response_int(AP_UAVCAN* ap_uavcan, uint
}
if (strcmp(name, "GPS_MB_ONLY_PORT") == 0 && cfg_step == STEP_SET_MB_CAN_TX) {
if (gps._driver_options == 0 && value != 1) {
if ((gps._driver_options & UAVCAN_MBUseDedicatedBus) && !value) {
// set up so that another CAN port is used for the Moving Baseline Data
// setting this value will allow another CAN port to be used as dedicated
// line for the Moving Baseline Data
value = 1;
requires_save_and_reboot = true;
return true;
} else if (gps._driver_options != 0 && value != 0) {
} else if (!(gps._driver_options & UAVCAN_MBUseDedicatedBus) && value) {
// set up so that all CAN ports are used for the Moving Baseline Data
value = 0;
requires_save_and_reboot = true;

1
libraries/AP_GPS/GPS_Backend.h
View File

@ -88,6 +88,7 @@ public:
UBX_MBUseUart2 = (1U << 0U),
SBF_UseBaseForYaw = (1U << 1U),
UBX_Use115200 = (1U << 2U),
UAVCAN_MBUseDedicatedBus = (1 << 3U),
};
protected: