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GPS ublox add dynamic model parameter

This commit is contained in:
Daniel Agar 2017-06-24 21:40:35 -04:00 committed by Beat Küng
parent c8189b9c23
commit af5256c454
3 changed files with 26 additions and 3 deletions
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2
src/drivers/gps/devices

@ -1 +1 @@
Subproject commit dd275f36cb22a82342bdeadf4f66b4f6af03ef92
Subproject commit e645b90967a304669a51f0105882ac21470c646c

8
src/drivers/gps/gps.cpp
View File

@ -686,9 +686,13 @@ GPS::task_main()
_mode = GPS_DRIVER_MODE_UBX;
/* FALLTHROUGH */
case GPS_DRIVER_MODE_UBX: {
int32_t param_gps_ubx_dynmodel = 7; // default to 7: airborne with <2g acceleration
param_get(param_find("GPS_UBX_DYNMODEL"), &param_gps_ubx_dynmodel);
case GPS_DRIVER_MODE_UBX:
_helper = new GPSDriverUBX(_interface, &GPS::callback, this, &_report_gps_pos, _p_report_sat_info);
_helper = new GPSDriverUBX(_interface, &GPS::callback, this, &_report_gps_pos, _p_report_sat_info,
param_gps_ubx_dynmodel);
}
break;
case GPS_DRIVER_MODE_MTK:

19
src/drivers/gps/params.c
View File

@ -44,3 +44,22 @@
*/
PARAM_DEFINE_INT32(GPS_DUMP_COMM, 0);
/**
* u-blox GPS dynamic platform model
*
* u-blox receivers support different dynamic platform models to adjust the navigation engine to
* the expected application environment.
*
* @min 0
* @max 9
* @value 2 stationary
* @value 4 automotive
* @value 6 airborne with <1g acceleration
* @value 7 airborne with <2g acceleration
* @value 8 airborne with <4g acceleration
*
* @reboot_required true
*
* @group GPS
*/
PARAM_DEFINE_INT32(GPS_UBX_DYNMODEL, 7);