gps_piksi module

Swift-Nav Piksi RTK GPS.

Driver for Swift-Nav Piksi RTK GPS connected via UART.

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_piksi">
  <configure name="PIKSI_GPS_PORT" value="UARTx" />
  <configure name="PIKSI_GPS_BAUD" value="B115200" />
</module>

Module configuration options

Configure Options

• name: PIKSI_GPS_PORT value: UARTx
  Description: UART where the GPS is connected to (UART1, UART2, etc
• name: PIKSI_GPS_BAUD value: B115200
  Description: UART baud rate

Auto-loaded modules

The following modules are automatically loaded (just as if you had added them in the airframe file)

• gps module
• gps_nps module
• gps_sim module

Module functions

Init Functions

These initialization functions are called once on startup.

• gps_piksi_init()

Event Functions

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

• gps_piksi_event()

Periodic Functions

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

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

Files

Header Files

The following headers are automatically included in modules.h

• gps.h

Source Files

• subsystems/gps/gps_piksi.c
• /sw/ext/libsbp/c/src/sbp.c
• /sw/ext/libsbp/c/src/edc.c

Raw gps_piksi.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="gps_piksi" dir="gps">
  <doc>
    <description>
      Swift-Nav Piksi RTK GPS.
      Driver for Swift-Nav Piksi RTK GPS connected via UART.
    </description>
    <configure name="PIKSI_GPS_PORT" value="UARTx" description="UART where the GPS is connected to (UART1, UART2, etc"/>
    <configure name="PIKSI_GPS_BAUD" value="B115200" description="UART baud rate"/>
  </doc>
  <autoload name="gps"/>
  <autoload name="gps_nps"/>
  <autoload name="gps_sim"/>
  <header>
    <file name="gps.h" dir="subsystems"/>
  </header>
  <init fun="gps_piksi_init()"/>
  <periodic fun="gps_piksi_periodic_check()" freq="1." autorun="TRUE"/>
  <event fun="gps_piksi_event()"/>
  <makefile target="ap|fbw">
    <configure name="PIKSI_GPS_PORT" default="$(GPS_PORT)" case="upper|lower"/>
    <configure name="PIKSI_GPS_BAUD" default="B115200"/>

    <file name="gps_piksi.c" dir="subsystems/gps"/>
    <include name="$(PAPARAZZI_SRC)/sw/ext/libsbp/c/include"/>
    <file name="sbp.c" dir="$(PAPARAZZI_SRC)/sw/ext/libsbp/c/src"/>
    <file name="edc.c" dir="$(PAPARAZZI_SRC)/sw/ext/libsbp/c/src"/>

    <define name="USE_$(PIKSI_GPS_PORT_UPPER)"/>
    <define name="PIKSI_GPS_LINK" value="$(PIKSI_GPS_PORT_LOWER)"/>
    <define name="$(PIKSI_GPS_PORT_UPPER)_BAUD" value="$(PIKSI_GPS_BAUD)"/>
    <raw>
      ifdef SECONDARY_GPS
      ifneq (,$(findstring $(SECONDARY_GPS), piksi))
      # this is the secondary GPS
      $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_piksi.h\"
      $(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_PIKSI
      else
      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_piksi.h\"
      $(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_PIKSI
      endif
      else
      # plain old single GPS usage
      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_piksi.h\"
      endif
    </raw>
  </makefile>
  <makefile target="fbw">
    <define name="USE_GPS"/>
  </makefile>
</module>