gps module

Generic GPS functions.

This provides generic GPS functions and multi GPS support. Still requires at least one module providing the actual GPS implementation.

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="gps">
  b'<define name="GPS_POS_BROADCAST" value="FALSE|TRUE" />\n  '
  b'<configure name="GPS_LED" value="2" />\n    '
</module>

Module configuration options

Configure Options

• name: GPS_LED value: 2
  Description: LED number to indicate fix or none

Define Options

• name: GPS_POS_BROADCAST value: FALSE|TRUE
  Description: Broadcast GPS position instead of sending it to the ground station only. This requires to use PPRZLINK version 2 and a capable modem

Module functions

Init Functions

These initialization functions are called once on startup.

• gps_init()

Datalink Functions

Whenever the specified datalink message is received, the corresponing handler function is called.

• on message GPS_INJECT call gps_parse_GPS_INJECT(buf)
• on message RTCM_INJECT call gps_parse_RTCM_INJECT(buf)

Files

Header Files

The following headers are automatically included in modules.h

• gps.h

Source Files

• modules/gps/gps.c

Raw gps.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="gps" dir="gps" task="sensors">
  <doc>
    <description>
      Generic GPS functions.
      This provides generic GPS functions and multi GPS support.
      Still requires at least one module providing the actual GPS implementation.
    </description>
    <configure name="GPS_LED" value="2" description="LED number to indicate fix or none"/>
    <define name="GPS_POS_BROADCAST" value="FALSE|TRUE" description="Broadcast GPS position instead of sending it to the ground station only. This requires to use PPRZLINK version 2 and a capable modem"/>
  </doc>
 
  <settings>
    <dl_settings>
      <dl_settings name="gps">
        <dl_setting MAX="2" MIN="0" STEP="1" values="AUTO|PRIMARY|SECONDARY" module="modules/gps/gps" VAR="multi_gps_mode" shortname="multi_mode" param="MULTI_GPS_MODE">
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          <strip_button name="GPS SECONDARY" icon="gps2.png" value="2" group="gps_mode_setting"/> -->
        </dl_setting>
      </dl_settings>
    </dl_settings>
  </settings>
 
  <header>
    <file name="gps.h"/>
  </header>
  <init fun="gps_init()"/>
  <datalink message="GPS_INJECT" fun="gps_parse_GPS_INJECT(buf)"/>
  <datalink message="RTCM_INJECT" fun="gps_parse_RTCM_INJECT(buf)"/>
 
  <makefile target="fbw|ap|sim|nps">
    <configure name="GPS_LED" default="none"/>
    <file name="gps.c"/>
    <define name="USE_GPS"/>
    <define name="GPS_LED" value="$(GPS_LED)" cond="ifneq ($(GPS_LED),none)"/>
    <test>
        <define name="PRIMARY_GPS" value="GPS_DATALINK"/>
    </test>
  </makefile>
</module>