From abad58874c1425c2e47d41f8c01130cc03c51a25 Mon Sep 17 00:00:00 2001
From: Holger Steinhaus <holger@steinhaus-home.de>
Date: Mon, 3 Nov 2014 13:37:06 +0100
Subject: [PATCH] AP_GPS: enable GNSS modules handled by PX4 firmware via
GPS_TYPE
GNSS modules handled by PX4 drivers are not auto-detectable, some are not even
connected to a UART port. The activation is therefore controlled by GPS_TYPE
only. Baud rate and port settings (if applicable) have to be handled by the PX4
firmware.
---
libraries/AP_GPS/AP_GPS.cpp | 8 +++++++-
libraries/AP_GPS/AP_GPS.h | 4 +++-
2 files changed, 10 insertions(+), 2 deletions(-)
diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index 7de3e0e0a..7857ca66a 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -146,7 +146,13 @@ AP_GPS::detect_instance(uint8_t instance)
AP_HAL::UARTDriver *port = instance==0?hal.uartB:hal.uartE;
struct detect_state *dstate = &detect_state[instance];
- if (port == NULL) {
+ if (_type[instance] == GPS_TYPE_PX4) {
+ // check for explicitely chosen PX4 GPS beforehand
+ // it is not possible to autodetect it, nor does it require a real UART
+ hal.console->print_P(PSTR(" PX4 "));
+ new_gps = new AP_GPS_PX4(*this, state[instance], port);
+ }
+ else if (port == NULL) {
// UART not available
return;
}
diff --git a/libraries/AP_GPS/AP_GPS.h b/libraries/AP_GPS/AP_GPS.h
index 270351ae0..25ecc2b83 100644
--- a/libraries/AP_GPS/AP_GPS.h
+++ b/libraries/AP_GPS/AP_GPS.h
@@ -91,7 +91,8 @@ public:
GPS_TYPE_NMEA = 5,
GPS_TYPE_SIRF = 6,
GPS_TYPE_HIL = 7,
- GPS_TYPE_SBP = 8
+ GPS_TYPE_SBP = 8,
+ GPS_TYPE_PX4 = 9
};
/// GPS status codes
@@ -413,5 +414,6 @@ private:
#include <AP_GPS_NMEA.h>
#include <AP_GPS_SIRF.h>
#include <AP_GPS_SBP.h>
+#include <AP_GPS_PX4.h>
#endif // __AP_GPS_H__
--
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