Subsystem/gps

From PaparazziUAV
Jump to: navigation, search

Currently possible GPS subsystems are

type architectures firmwares notes
ublox all all recommended
ublox_utm all fixedwing for the older ublox4 series that still have a UTM message
skytraq all rotorcraft some fields missing in the skytraq protocol for fixedwings, see #167, fixed
mediatek_diy all fixedwing
nmea stm32 all only basic position and fix information, see #120, fixed
sirf all rotorcraft

Just specify the appropriate subsystem in your firmware section.

File: conf/airframes/myplane.xml
  <firmware name="fixedwing or rotorcraft">
     ...
    <subsystem name="gps"               type="ublox"/>
  </firmware>

Configure Options

If a configure option is not specified the default is used.

  • GPS_PORT: UART0, UART1, etc.
    • default: The correct UART is already defined according to your board.
  • GPS_BAUD: B4800, B9600, B38400, B57600, B115200
    • default: Already defined according to your board (e.g. B38400 for Lisa/M v2.0).
  • GPS_LED: 1, 2, 3, none
    • default: Already defined according to your board (e.g. 2 for tiny2 or twog).

Defaults can be found in the board makefile (e.g. conf/boards/ardrone2_raw.makefile).

If you use different baud rates or UART set the according parameters, e.g.

File: conf/airframes/myplane.xml
  <firmware name="fixedwing or rotorcraft">
     ...
    <subsystem name="gps"               type="ublox">
      <configure name="GPS_BAUD"          value="B9600"/>
      <configure name="GPS_PORT"          value="UART0"/>
      <configure name="GPS_LED"           value="none"/>
    </subsystem>
  </firmware>

Notes:

  • u-blox GPS modules are factory configured for 9600 baud, 38,400 baud is recommended along with the other required changes. The GPS can be accessed directly thrugh the UART Tunnel and Configured with u-center
  • You can also use the GPS u-blox U-Center module to automatically configure baudrate and messages for your u-blox GPS on startup.