Paparazzi UAS  v5.15_devel-47-g0391b4d
Paparazzi is a free software Unmanned Aircraft System.
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gps_ubx_ucenter module

Ublox GPS autoconfiguration.

Automatically configure any Ublox GPS for paparazzi.

  • configures all the messages, and the rates
  • automatic baudrate detection

Warning: you still need to tell the driver, which paparazzi port you use.

Example for airframe file

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

1 <module name="gps_ublox"/>
2 <module name="gps_ubx_ucenter">
3  <define name="GPS_UBX_UCENTER_RATE" value="250" />
4  <define name="GPS_UBX_NAV5_DYNAMICS" value="NAV5_DYN_PORTABLE|NAV5_DYN_FIXED|NAV5_DYN_STATIONARY|NAV5_DYN_PEDESTRIAN|NAV5_DYN_AUTOMOTIVE|NAV5_DYN_SEA|NAV5_DYN_AIRBORNE_1G|NAV5_DYN_AIRBORNE_2G|NAV5_DYN_AIRBORNE_4G" />
5  <define name="USE_GPS_UBX_RXM_RAW" />
6  <define name="GPS_UBX_ENABLE_NMEA_DATA_MASK" value="0x00|0xff" />
7 </module>

Module configuration options

Define Options

  • name: GPS_UBX_UCENTER_RATE value: 250
    Description: Data output rate in ms
  • name: GPS_UBX_NAV5_DYNAMICS value: NAV5_DYN_PORTABLE|NAV5_DYN_FIXED|NAV5_DYN_STATIONARY|NAV5_DYN_PEDESTRIAN|NAV5_DYN_AUTOMOTIVE|NAV5_DYN_SEA|NAV5_DYN_AIRBORNE_1G|NAV5_DYN_AIRBORNE_2G|NAV5_DYN_AIRBORNE_4G
    Description: Dynamic model used by ublox GPS filter. Default:NAV5_DYN_AIRBORNE_2G
  • name: USE_GPS_UBX_RXM_RAW value: None
    Description: Activate raw measurments (only available on U-Blox T versions)
  • name: GPS_UBX_ENABLE_NMEA_DATA_MASK value: 0x00|0xff
    Description: NMEA is disabled by default (0x00). To enable NMEA and UBX, set MASK to 0xff.

Dependencies

Module functions

Init Functions

These initialization functions are called once on startup.

Periodic Functions

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

Files

Header Files

The following headers are automatically included in modules.h

Source Files

Raw gps_ubx_ucenter.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="gps_ubx_ucenter" dir="gps">
<doc>
<description>
Ublox GPS autoconfiguration.
Automatically configure any Ublox GPS for paparazzi.
- configures all the messages, and the rates
- automatic baudrate detection
Warning: you still need to tell the driver, which paparazzi port you use.
</description>
<define name="GPS_UBX_UCENTER_RATE" value="250" description="Data output rate in ms"/>
<define name="GPS_UBX_NAV5_DYNAMICS"
value="NAV5_DYN_PORTABLE|NAV5_DYN_FIXED|NAV5_DYN_STATIONARY|NAV5_DYN_PEDESTRIAN|NAV5_DYN_AUTOMOTIVE|NAV5_DYN_SEA|NAV5_DYN_AIRBORNE_1G|NAV5_DYN_AIRBORNE_2G|NAV5_DYN_AIRBORNE_4G"
description="Dynamic model used by ublox GPS filter. Default:NAV5_DYN_AIRBORNE_2G"/>
<define name="USE_GPS_UBX_RXM_RAW" description="Activate raw measurments (only available on U-Blox T versions)"/>
<define name="GPS_UBX_ENABLE_NMEA_DATA_MASK" value="0x00|0xff" description="NMEA is disabled by default (0x00). To enable NMEA and UBX, set MASK to 0xff."/>
</doc>
<settings>
<dl_settings NAME="ublox">
<dl_settings name="ucenter">
<dl_setting MAX="255" MIN="0" STEP="1" module="gps/gps_ubx_ucenter" VAR="gps_ubx_ucenter.sw_ver_h" shortname="sw_h"/>
<dl_setting MAX="255" MIN="0" STEP="1" module="gps/gps_ubx_ucenter" VAR="gps_ubx_ucenter.sw_ver_l" shortname="sw_l"/>
<dl_setting MAX="255" MIN="0" STEP="1" module="gps/gps_ubx_ucenter" VAR="gps_ubx_ucenter.hw_ver_h" shortname="hw_h"/>
<dl_setting MAX="255" MIN="0" STEP="1" module="gps/gps_ubx_ucenter" VAR="gps_ubx_ucenter.hw_ver_l" shortname="hw_l"/>
<dl_setting MAX="115200" MIN="4800" STEP="100" module="gps/gps_ubx_ucenter" VAR="gps_ubx_ucenter.baud_init" shortname="inibaud"/>
<dl_setting MAX="115200" MIN="4800" STEP="100" module="gps/gps_ubx_ucenter" VAR="gps_ubx_ucenter.baud_run" shortname="baud"/>
</dl_settings>
</dl_settings>
</settings>
<depends>gps_ublox</depends>
<header>
<file name="gps_ubx_ucenter.h"/>
</header>
<init fun="gps_ubx_ucenter_init()"/>
<periodic fun="gps_ubx_ucenter_periodic()" start="gps_ubx_ucenter_init()" freq="4." autorun="TRUE"/>
<makefile target="ap|fbw">
<file name="gps_ubx_ucenter.c"/>
<define name="GPS_UBX_UCENTER"/>
</makefile>
</module>