dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

ubx: add sbas config, default to disable

This commit is contained in:
Thomas Gubler 2014-09-22 19:04:24 +02:00
parent 6a6bd09973
commit 69eb222d4e
2 changed files with 29 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
src/drivers/gps/ubx.cpp
View File

@ -189,6 +189,16 @@ UBX::configure(unsigned &baudrate)
return 1;
}
/* send a SBAS message to set the SBAS options */
memset(&_buf.payload_tx_cfg_sbas, 0, sizeof(_buf.payload_tx_cfg_sbas));
_buf.payload_tx_cfg_sbas.mode = UBX_TX_CFG_SBAS_MODE;
send_message(UBX_MSG_CFG_SBAS, _buf.raw, sizeof(_buf.payload_tx_cfg_sbas));
if (wait_for_ack(UBX_MSG_CFG_SBAS, UBX_CONFIG_TIMEOUT, true) < 0) {
return 1;
}
/* configure message rates */
/* the last argument is divisor for measurement rate (set by CFG RATE), i.e. 1 means 5Hz */
@ -265,6 +275,8 @@ UBX::wait_for_ack(const uint16_t msg, const unsigned timeout, const bool report)
}
}
warnx("msg %u ret %d", msg, ret);
_ack_state = UBX_ACK_IDLE;
return ret;
}

17
src/drivers/gps/ubx.h
View File

@ -73,6 +73,7 @@
#define UBX_ID_CFG_MSG 0x01
#define UBX_ID_CFG_RATE 0x08
#define UBX_ID_CFG_NAV5 0x24
#define UBX_ID_CFG_SBAS 0x16
#define UBX_ID_MON_VER 0x04
#define UBX_ID_MON_HW 0x09
@ -89,6 +90,7 @@
#define UBX_MSG_CFG_MSG ((UBX_CLASS_CFG) | UBX_ID_CFG_MSG << 8)
#define UBX_MSG_CFG_RATE ((UBX_CLASS_CFG) | UBX_ID_CFG_RATE << 8)
#define UBX_MSG_CFG_NAV5 ((UBX_CLASS_CFG) | UBX_ID_CFG_NAV5 << 8)
#define UBX_MSG_CFG_SBAS ((UBX_CLASS_CFG) | UBX_ID_CFG_SBAS << 8)
#define UBX_MSG_MON_HW ((UBX_CLASS_MON) | UBX_ID_MON_HW << 8)
#define UBX_MSG_MON_VER ((UBX_CLASS_MON) | UBX_ID_MON_VER << 8)
@ -128,6 +130,11 @@
#define UBX_TX_CFG_NAV5_DYNMODEL 7 /**< 0 Portable, 2 Stationary, 3 Pedestrian, 4 Automotive, 5 Sea, 6 Airborne <1g, 7 Airborne <2g, 8 Airborne <4g */
#define UBX_TX_CFG_NAV5_FIXMODE 2 /**< 1 2D only, 2 3D only, 3 Auto 2D/3D */
/* TX CFG-SBAS message contents */
#define UBX_TX_CFG_SBAS_MODE_ENABLED 1 /**< SBAS enabled */
#define UBX_TX_CFG_SBAS_MODE_DISABLED 0 /**< SBAS disabled */
#define UBX_TX_CFG_SBAS_MODE UBX_TX_CFG_SBAS_MODE_DISABLED /**< SBAS enabled or disabled */
/* TX CFG-MSG message contents */
#define UBX_TX_CFG_MSG_RATE1_5HZ 0x01 /**< {0x00, 0x01, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */
#define UBX_TX_CFG_MSG_RATE1_1HZ 0x05 /**< {0x00, 0x05, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */
@ -383,6 +390,15 @@ typedef struct {
uint32_t reserved4;
} ubx_payload_tx_cfg_nav5_t;
/* tx cfg-sbas */
typedef struct {
uint8_t mode;
uint8_t usage;
uint8_t maxSBAS;
uint8_t scanmode2;
uint32_t scanmode1;
} ubx_payload_tx_cfg_sbas_t;
/* Tx CFG-MSG */
typedef struct {
union {
@ -413,6 +429,7 @@ typedef union {
ubx_payload_tx_cfg_prt_t payload_tx_cfg_prt;
ubx_payload_tx_cfg_rate_t payload_tx_cfg_rate;
ubx_payload_tx_cfg_nav5_t payload_tx_cfg_nav5;
ubx_payload_tx_cfg_sbas_t payload_tx_cfg_sbas;
ubx_payload_tx_cfg_msg_t payload_tx_cfg_msg;
uint8_t raw[];
} ubx_buf_t;