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_ubx_ucenter">
  b'<define name="GPS_UBX_UCENTER_RATE" value="250" />\n    '
  b'<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" />\n    '
  b'<define name="USE_GPS_UBX_RXM_RAW" />\n    '
  b'<define name="GPS_UBX_ENABLE_NMEA_DATA_MASK" value="0x00|0xff" />\n  '
</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.

Module functions

Init Functions

These initialization functions are called once on startup.

gps_ubx_ucenter_init()

Periodic Functions

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

gps_ubx_ucenter_periodic()
- Frequency in Hz: 4.
- Autorun: TRUE
  Periodic function automatically starts after init.
- Start function: gps_ubx_ucenter_init()
  Executed before the periodic function starts.

Files

Header Files

The following headers are automatically included in modules.h

gps_ubx_ucenter.h

Source Files

modules/gps/gps_ubx_ucenter.c

Raw gps_ubx_ucenter.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="gps_ubx_ucenter" dir="gps" task="sensors">
  <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>
 
  <dep>
    <depends>gps_ublox</depends>
  </dep>
 
  <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"/>
    <test>
        <define name="UBX_GPS_PORT" value="uart2"/>
        <define name="USE_UART2"/>
    </test>
  </makefile>
</module>
 
 