From af5256c4540e51d9f1e369d9db22232a0d20aa14 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sat, 24 Jun 2017 21:40:35 -0400
Subject: [PATCH] GPS ublox add dynamic model parameter

---
 src/drivers/gps/devices  |  2 +-
 src/drivers/gps/gps.cpp  |  8 ++++++--
 src/drivers/gps/params.c | 19 +++++++++++++++++++
 3 files changed, 26 insertions(+), 3 deletions(-)

diff --git a/src/drivers/gps/devices b/src/drivers/gps/devices
index dd275f36cb..e645b90967 160000
--- a/src/drivers/gps/devices
+++ b/src/drivers/gps/devices
@@ -1 +1 @@
-Subproject commit dd275f36cb22a82342bdeadf4f66b4f6af03ef92
+Subproject commit e645b90967a304669a51f0105882ac21470c646c
diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
index a869181c97..b7a688fe15 100644
--- a/src/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
@@ -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:
diff --git a/src/drivers/gps/params.c b/src/drivers/gps/params.c
index 75f4c3dc22..290429aa4d 100644
--- a/src/drivers/gps/params.c
+++ b/src/drivers/gps/params.c
@@ -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);