U-blox GPS (UART)

Module XML file: gps_ublox.xml

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

Example for airframe file

This example contains all possible configuration options, not all of them are mandatory!

<modules>
  <load name="gps_ublox.xml">
    <configure name="GPS_PORT" value="UARTx" />
    <configure name="GPS_BAUD" value="B38400" />
    <configure name="GPS_LED" value="2" />
  </load>
</modules>

Module configuration options

Configure Options

• name: GPS_PORT value: UARTx
  Description: UART where the GPS is connected to (UART1, UART2, etc
• name: GPS_BAUD value: B38400
  Description: UART baud rate
• name: GPS_LED value: 2
  Description: LED number to indicate fix or none

Files

Header Files

The following headers are automatically included in modules.h

• gps.h

Source Files

• subsystems/gps.c
• subsystems/gps/gps_ubx.c
• subsystems/gps.c
• subsystems/gps/gps_sim_nps.c
• subsystems/gps.c
• subsystems/gps/gps_sim.c

Raw gps_ublox.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="gps_ublox">
  <doc>
    <description>
      U-blox GPS (UART)
      Driver for u-blox GPS modules parsing the binary UBX protocol.
    </description>
    <configure name="GPS_PORT" value="UARTx" description="UART where the GPS is connected to (UART1, UART2, etc"/>
    <configure name="GPS_BAUD" value="B38400" description="UART baud rate"/>
    <configure name="GPS_LED" value="2" description="LED number to indicate fix or none"/>
  </doc>
  <header>
    <file name="gps.h" dir="subsystems"/>
  </header>
  <!-- uncomment these when not called explicitly from main anymore -->
  <!--init fun="gps_init()"/-->
  <!--periodic fun="gps_periodic_check()" freq="1." autorun="TRUE"/-->
  <!--event fun="GpsEvent(on_gps_solution)"/-->
  <makefile target="ap">
    <file name="gps.c" dir="subsystems"/>
    <file name="gps_ubx.c" dir="subsystems/gps"/>
    <define name="USE_GPS"/>
    <define name="GPS_USE_LATLONG"/>
    <raw>
      UBX_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
      ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_ubx.h\"
      ap.CFLAGS += -DUSE_$(GPS_PORT) -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
      ap.CFLAGS += -DUSE_GPS -DGPS_LINK=$(UBX_GPS_PORT_LOWER)
      GPS_LED ?= none
      ifneq ($(GPS_LED),none)
        ap.CFLAGS += -DGPS_LED=$(GPS_LED)
      endif
    </raw>
  </makefile>
  <makefile target="nps">
    <file name="gps.c" dir="subsystems"/>
    <file name="gps_sim_nps.c" dir="subsystems/gps"/>
    <define name="USE_GPS"/>
    <define name="GPS_USE_LATLONG"/>
    <raw>
      nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
    </raw>
  </makefile>
  <makefile target="sim">
    <file name="gps.c" dir="subsystems"/>
    <file name="gps_sim.c" dir="subsystems/gps"/>
    <define name="USE_GPS"/>
    <define name="GPS_USE_LATLONG"/>
    <raw>
      sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
    </raw>
  </makefile>
</module>