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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-22 19:04:24 +0200 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-22 19:04:24 +0200 |
commit | 69eb222d4e2cf3d0894992a50a7a5822489f757f (patch) | |
tree | b382bc7fdbcdccd0b7337a9d7a00dee1b76bd2e7 /src/drivers/gps | |
parent | 6a6bd0997346d3994bae09e7c598e99088a12eb4 (diff) | |
download | px4-firmware-69eb222d4e2cf3d0894992a50a7a5822489f757f.tar.gz px4-firmware-69eb222d4e2cf3d0894992a50a7a5822489f757f.tar.bz2 px4-firmware-69eb222d4e2cf3d0894992a50a7a5822489f757f.zip |
ubx: add sbas config, default to disable
Diffstat (limited to 'src/drivers/gps')
-rw-r--r-- | src/drivers/gps/ubx.cpp | 12 | ||||
-rw-r--r-- | src/drivers/gps/ubx.h | 17 |
2 files changed, 29 insertions, 0 deletions
diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp index d0854f5e9..c54c474b3 100644 --- a/src/drivers/gps/ubx.cpp +++ b/src/drivers/gps/ubx.cpp @@ -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; } diff --git a/src/drivers/gps/ubx.h b/src/drivers/gps/ubx.h index 219a5762a..c74eb9168 100644 --- a/src/drivers/gps/ubx.h +++ b/src/drivers/gps/ubx.h @@ -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; |