diff --git a/APMrover2/APM_Config.h.reference b/APMrover2/APM_Config.h.reference index 8d125b40cb..23d02d5e00 100644 --- a/APMrover2/APM_Config.h.reference +++ b/APMrover2/APM_Config.h.reference @@ -67,7 +67,7 @@ // GPS_PROTOCOL_NONE No GPS attached // GPS_PROTOCOL_IMU X-Plane interface or ArduPilot IMU. // GPS_PROTOCOL_MTK MediaTek-based GPS running the DIYDrones firmware 1.4 -// GPS_PROTOCOL_MTK16 MediaTek-based GPS running the DIYDrones firmware 1.6 +// GPS_PROTOCOL_MTK19 MediaTek-based GPS running the DIYDrones firmware 1.6, 1.7, 1.8, 1.9 // GPS_PROTOCOL_UBLOX UBLOX GPS // GPS_PROTOCOL_SIRF SiRF-based GPS in Binary mode. NOT TESTED // GPS_PROTOCOL_NMEA Standard NMEA GPS. NOT SUPPORTED (yet?) diff --git a/APMrover2/APMrover2.pde b/APMrover2/APMrover2.pde index 23a979ad52..f6ad61473b 100644 --- a/APMrover2/APMrover2.pde +++ b/APMrover2/APMrover2.pde @@ -237,8 +237,8 @@ AP_GPS_UBLOX g_gps_driver(&Serial1); #elif GPS_PROTOCOL == GPS_PROTOCOL_MTK AP_GPS_MTK g_gps_driver(&Serial1); -#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK16 -AP_GPS_MTK16 g_gps_driver(&Serial1); +#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK19 +AP_GPS_MTK19 g_gps_driver(&Serial1); #elif GPS_PROTOCOL == GPS_PROTOCOL_NONE AP_GPS_None g_gps_driver(NULL); diff --git a/APMrover2/defines.h b/APMrover2/defines.h index ec378b0e62..f28002e843 100644 --- a/APMrover2/defines.h +++ b/APMrover2/defines.h @@ -48,7 +48,7 @@ #define GPS_PROTOCOL_IMU 3 #define GPS_PROTOCOL_MTK 4 #define GPS_PROTOCOL_HIL 5 -#define GPS_PROTOCOL_MTK16 6 +#define GPS_PROTOCOL_MTK19 6 #define GPS_PROTOCOL_AUTO 7 #define CH_ROLL CH_1 diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde index cf370df6c1..f33e20d58d 100644 --- a/ArduCopter/ArduCopter.pde +++ b/ArduCopter/ArduCopter.pde @@ -266,8 +266,8 @@ AP_GPS_UBLOX g_gps_driver(&Serial1); #elif GPS_PROTOCOL == GPS_PROTOCOL_MTK AP_GPS_MTK g_gps_driver(&Serial1); - #elif GPS_PROTOCOL == GPS_PROTOCOL_MTK16 -AP_GPS_MTK16 g_gps_driver(&Serial1); + #elif GPS_PROTOCOL == GPS_PROTOCOL_MTK19 +AP_GPS_MTK19 g_gps_driver(&Serial1); #elif GPS_PROTOCOL == GPS_PROTOCOL_NONE AP_GPS_None g_gps_driver(NULL); diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h index dcc2804652..06c7af3ee8 100644 --- a/ArduCopter/defines.h +++ b/ArduCopter/defines.h @@ -107,7 +107,7 @@ #define GPS_PROTOCOL_IMU 3 #define GPS_PROTOCOL_MTK 4 #define GPS_PROTOCOL_HIL 5 -#define GPS_PROTOCOL_MTK16 6 +#define GPS_PROTOCOL_MTK19 6 #define GPS_PROTOCOL_AUTO 7 // HIL enumerations diff --git a/ArduCopter/options.cmake b/ArduCopter/options.cmake index 3c016bb8d5..a0c899bff5 100644 --- a/ArduCopter/options.cmake +++ b/ArduCopter/options.cmake @@ -47,7 +47,7 @@ apm_option("GPS_PROTOCOL" TYPE STRING "GPS_PROTOCOL_NONE" "GPS_PROTOCOL_IMU" "GPS_PROTOCOL_MTK" - "GPS_PROTOCOL_MTK16" + "GPS_PROTOCOL_MTK19" "GPS_PROTOCOL_UBLOX" "GPS_PROTOCOL_SIRF" "GPS_PROTOCOL_NMEA") diff --git a/ArduPlane/APM_Config.h.reference b/ArduPlane/APM_Config.h.reference index 72106451bd..e9f01b04df 100644 --- a/ArduPlane/APM_Config.h.reference +++ b/ArduPlane/APM_Config.h.reference @@ -67,7 +67,7 @@ // GPS_PROTOCOL_NONE No GPS attached // GPS_PROTOCOL_IMU X-Plane interface or ArduPilot IMU. // GPS_PROTOCOL_MTK MediaTek-based GPS running the DIYDrones firmware 1.4 -// GPS_PROTOCOL_MTK16 MediaTek-based GPS running the DIYDrones firmware 1.6 +// GPS_PROTOCOL_MTK19 MediaTek-based GPS running the DIYDrones firmware 1.6, 1.7, 1.8, 1.9 // GPS_PROTOCOL_UBLOX UBLOX GPS // GPS_PROTOCOL_SIRF SiRF-based GPS in Binary mode. NOT TESTED // GPS_PROTOCOL_NMEA Standard NMEA GPS. NOT SUPPORTED (yet?) diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde index 9fb4e9536c..86bc1beb26 100644 --- a/ArduPlane/ArduPlane.pde +++ b/ArduPlane/ArduPlane.pde @@ -213,8 +213,8 @@ AP_GPS_UBLOX g_gps_driver(&Serial1); #elif GPS_PROTOCOL == GPS_PROTOCOL_MTK AP_GPS_MTK g_gps_driver(&Serial1); - #elif GPS_PROTOCOL == GPS_PROTOCOL_MTK16 -AP_GPS_MTK16 g_gps_driver(&Serial1); + #elif GPS_PROTOCOL == GPS_PROTOCOL_MTK19 +AP_GPS_MTK19 g_gps_driver(&Serial1); #elif GPS_PROTOCOL == GPS_PROTOCOL_NONE AP_GPS_None g_gps_driver(NULL); diff --git a/ArduPlane/Makefile b/ArduPlane/Makefile index 704706cf31..411624d93b 100644 --- a/ArduPlane/Makefile +++ b/ArduPlane/Makefile @@ -31,7 +31,7 @@ mtk: make -f Makefile EXTRAFLAGS="-DGPS_PROTOCOL=GPS_PROTOCOL_MTK" mtk16: - make -f Makefile EXTRAFLAGS="-DGPS_PROTOCOL=GPS_PROTOCOL_MTK16" + make -f Makefile EXTRAFLAGS="-DGPS_PROTOCOL=GPS_PROTOCOL_MTK19" heli: make -f Makefile EXTRAFLAGS="-DFRAME_CONFIG=HELI_FRAME" diff --git a/ArduPlane/defines.h b/ArduPlane/defines.h index 0d96fc7368..8eda2b376a 100644 --- a/ArduPlane/defines.h +++ b/ArduPlane/defines.h @@ -45,7 +45,7 @@ #define GPS_PROTOCOL_IMU 3 #define GPS_PROTOCOL_MTK 4 #define GPS_PROTOCOL_HIL 5 -#define GPS_PROTOCOL_MTK16 6 +#define GPS_PROTOCOL_MTK19 6 #define GPS_PROTOCOL_AUTO 7 #define CH_ROLL CH_1 diff --git a/ArduPlane/options.cmake b/ArduPlane/options.cmake index 5866348e3a..298327a670 100644 --- a/ArduPlane/options.cmake +++ b/ArduPlane/options.cmake @@ -47,7 +47,7 @@ apm_option("GPS_PROTOCOL" TYPE STRING "GPS_PROTOCOL_NONE" "GPS_PROTOCOL_IMU" "GPS_PROTOCOL_MTK" - "GPS_PROTOCOL_MTK16" + "GPS_PROTOCOL_MTK19" "GPS_PROTOCOL_UBLOX" "GPS_PROTOCOL_SIRF" "GPS_PROTOCOL_NMEA") diff --git a/Tools/ArduTracker/APM_Config.h.reference b/Tools/ArduTracker/APM_Config.h.reference index 3eb4c9c3c4..de47322a20 100644 --- a/Tools/ArduTracker/APM_Config.h.reference +++ b/Tools/ArduTracker/APM_Config.h.reference @@ -65,10 +65,12 @@ // // GPS_PROTOCOL_NONE No GPS attached // GPS_PROTOCOL_IMU X-Plane interface or ArduPilot IMU. -// GPS_PROTOCOL_MTK MediaTek-based GPS. +// GPS_PROTOCOL_MTK MediaTek-based GPS for Mediatek 1.4 +// GPS_PROTOCOL_MTK19 MediaTek-based GPS for firmware 1.6, 1.7, 1.8, 1.9 // GPS_PROTOCOL_UBLOX UBLOX GPS // GPS_PROTOCOL_SIRF SiRF-based GPS in Binary mode. NOT TESTED // GPS_PROTOCOL_NMEA Standard NMEA GPS. NOT SUPPORTED (yet?) +// GPS_PROTOCOL_AUTO 7 // //#define GPS_PROTOCOL GPS_PROTOCOL_UBLOX // diff --git a/Tools/ArduTracker/ArduTracker.pde b/Tools/ArduTracker/ArduTracker.pde index 2fa7cb5b56..386764ab79 100644 --- a/Tools/ArduTracker/ArduTracker.pde +++ b/Tools/ArduTracker/ArduTracker.pde @@ -91,6 +91,8 @@ AP_GPS_SIRF gps(&Serial1); AP_GPS_UBLOX gps(&Serial1); #elif GPS_PROTOCOL == GPS_PROTOCOL_MTK AP_GPS_MTK gps(&Serial1); +#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK19 +AP_GPS_MTK19 gps(&Serial1); #elif GPS_PROTOCOL == GPS_PROTOCOL_NONE AP_GPS_NONE gps(NULL); #else diff --git a/Tools/ArduTracker/defines.h b/Tools/ArduTracker/defines.h index fc752170b5..ede7c2277e 100644 --- a/Tools/ArduTracker/defines.h +++ b/Tools/ArduTracker/defines.h @@ -29,6 +29,8 @@ #define GPS_PROTOCOL_IMU 3 #define GPS_PROTOCOL_MTK 4 #define GPS_PROTOCOL_HIL 5 +#define GPS_PROTOCOL_MTK19 6 +#define GPS_PROTOCOL_AUTO 7 // Radio channels // Note channels are from 0! diff --git a/Tools/VARTest/defines.h b/Tools/VARTest/defines.h index 9f900459e0..49cf724bbf 100644 --- a/Tools/VARTest/defines.h +++ b/Tools/VARTest/defines.h @@ -44,7 +44,7 @@ #define GPS_PROTOCOL_IMU 3 #define GPS_PROTOCOL_MTK 4 #define GPS_PROTOCOL_HIL 5 -#define GPS_PROTOCOL_MTK16 6 +#define GPS_PROTOCOL_MTK19 6 #define GPS_PROTOCOL_AUTO 7 #define CH_ROLL CH_1 diff --git a/archive/WaypointWriterCopterMega/defines.h b/archive/WaypointWriterCopterMega/defines.h index 85e5eaca5b..bbedb191a6 100644 --- a/archive/WaypointWriterCopterMega/defines.h +++ b/archive/WaypointWriterCopterMega/defines.h @@ -46,7 +46,7 @@ #define GPS_PROTOCOL_IMU 3 #define GPS_PROTOCOL_MTK 4 #define GPS_PROTOCOL_HIL 5 -#define GPS_PROTOCOL_MTK16 6 +#define GPS_PROTOCOL_MTK19 6 // Radio channels // Note channels are from 0! diff --git a/archive/WaypointWriterMega/defines.h b/archive/WaypointWriterMega/defines.h index 85e5eaca5b..bbedb191a6 100644 --- a/archive/WaypointWriterMega/defines.h +++ b/archive/WaypointWriterMega/defines.h @@ -46,7 +46,7 @@ #define GPS_PROTOCOL_IMU 3 #define GPS_PROTOCOL_MTK 4 #define GPS_PROTOCOL_HIL 5 -#define GPS_PROTOCOL_MTK16 6 +#define GPS_PROTOCOL_MTK19 6 // Radio channels // Note channels are from 0!