gps_ublox module

U-blox GPS (UART)

Driver for u-blox GPS modules parsing the binary UBX protocol.

The reset variable allows us to manually restart the u-blox GPS. There are three modes:

• Hotstart (GPS_UBX_BOOTRESET = 1)
• Warmstart (GPS_UBX_BOOTRESET = 2)
• Coldstart (GPS_UBX_BOOTRESET = 3)

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_ublox">
  b'<configure name="UBX_GPS_PORT" value="UARTx" />\n    '
  b'<configure name="UBX_GPS_BAUD" value="B38400" />\n    '
  b'<configure name="GPS_UBX_BOOTRESET" value="0" />\n  '
</module>

Module configuration options

Configure Options

• name: UBX_GPS_PORT value: UARTx
  Description: UART where the GPS is connected to (UART1, UART2, etc
• name: UBX_GPS_BAUD value: B38400
  Description: UART baud rate
• name: GPS_UBX_BOOTRESET value: 0
  Description: Force a hot, warm or cold reset when the system boot up

Module functions

Init Functions

These initialization functions are called once on startup.

• gps_ubx_init()

Event Functions

These event functions are called in each cycle of the module event loop.

• gps_ubx_event()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

• gps_ubx_periodic_check()
  • Frequency in Hz: 1.
  • Autorun: TRUE
    Periodic function automatically starts after init.

Datalink Functions

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

• on message HITL_UBX call gps_ubx_parse_HITL_UBX(buf)

Files

Header Files

The following headers are automatically included in modules.h

• gps.h

Source Files

• modules/gps/gps_ubx.c

Raw gps_ublox.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="gps_ublox" dir="gps" task="sensors">
  <doc>
    <description>
      U-blox GPS (UART)
      Driver for u-blox GPS modules parsing the binary UBX protocol.
      
      The reset variable allows us to manually restart the u-blox GPS. There are three modes:
        - Hotstart  (GPS_UBX_BOOTRESET = 1)
        - Warmstart (GPS_UBX_BOOTRESET = 2)
        - Coldstart (GPS_UBX_BOOTRESET = 3) 
    </description>
    <configure name="UBX_GPS_PORT" value="UARTx" description="UART where the GPS is connected to (UART1, UART2, etc"/>
    <configure name="UBX_GPS_BAUD" value="B38400" description="UART baud rate"/>
    <configure name="GPS_UBX_BOOTRESET" value="0" description="Force a hot, warm or cold reset when the system boot up"/>
  </doc>
 
  <settings>
    <dl_settings>
      <dl_settings name="gps_ublox">
        <dl_setting MIN="1" MAX="3" STEP="1" values="Hotstart|Warmstart|Coldstart" module="gps/gps_ubx" VAR="gps_ubx_reset" shortname="reset"/>
      </dl_settings>
    </dl_settings>
  </settings>
 
  <dep>
    <depends>uart,gps</depends>
    <provides>gps</provides>
  </dep>
  <header>
    <file name="gps.h"/>
  </header>
  <init fun="gps_ubx_init()"/>
  <periodic fun="gps_ubx_periodic_check()" freq="1." autorun="TRUE"/>
  <event fun="gps_ubx_event()"/>
  <datalink message="HITL_UBX" fun="gps_ubx_parse_HITL_UBX(buf)"/> 
  <makefile target="ap|fbw">
    <file name="gps_ubx.c"/>
 
    <!-- GPS Ublox 1 -->
    <configure name="UBX_GPS_PORT" default="$(GPS_PORT)" case="upper|lower"/>
    <configure name="UBX_GPS_BAUD" default="$(GPS_BAUD)"/>
    <define name="USE_$(UBX_GPS_PORT_UPPER)"/>
    <define name="UBX_GPS_PORT" value="$(UBX_GPS_PORT_LOWER)"/>
    <define name="$(UBX_GPS_PORT_UPPER)_BAUD" value="$(UBX_GPS_BAUD)"/>
 
    <!-- GPS Ublox 2 -->
    <configure name="UBX2_GPS_PORT" default="$(GPS2_PORT)" case="upper|lower"/>
    <configure name="UBX2_GPS_BAUD" default="$(GPS2_BAUD)"/>
    <define name="USE_$(UBX2_GPS_PORT_UPPER)" cond="ifneq ($(UBX2_GPS_PORT)$(SECONDARY_GPS),)"/>
    <define name="UBX2_GPS_PORT" value="$(UBX2_GPS_PORT_LOWER)" cond="ifneq ($(UBX2_GPS_PORT)$(SECONDARY_GPS),)"/>
    <define name="$(UBX2_GPS_PORT_UPPER)_BAUD" value="$(UBX2_GPS_BAUD)" cond="ifneq ($(UBX2_GPS_BAUD)$(SECONDARY_GPS),)"/>
 
    <raw>
      ifdef SECONDARY_GPS
        ifneq (,$(findstring ublox2, $(SECONDARY_GPS)))
          # this is the secondary GPS
          $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_ubx.h\"
          $(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_UBX2
          $(TARGET).CFLAGS += -DGPS_UBX_NB=2
        else ifneq (,$(findstring ublox, $(SECONDARY_GPS)))
          # this is the secondary GPS
          $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_ubx.h\"
          $(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_UBX
        endif
 
        ifneq (,$(findstring ublox2, $(PRIMARY_GPS)))
          $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_ubx.h\"
          $(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_UBX2
          $(TARGET).CFLAGS += -DGPS_UBX_NB=2
        else ifneq (,$(findstring ublox, $(PRIMARY_GPS)))
          $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_ubx.h\"
          $(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_UBX
        endif
      else
        # plain old single GPS usage
        $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_ubx.h\"
      endif
    </raw>
    <test>
      <define name="PRIMARY_GPS" value="GPS_UBX"/>
      <define name="USE_UART2"/>
      <define name="UBX_GPS_PORT" value="uart2"/>
    </test>
  </makefile>
</module>