AP_GPS: configure via GPS_DRV_OPTIONS

ArduPilot · Sep 28, 2024 · 803bd1b · 803bd1b
1 parent 794a35d
commit 803bd1b
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Showing 4 changed files with 7 additions and 15 deletions.
diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
@@ -239,7 +239,7 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
     // @Param: _DRV_OPTIONS
     // @DisplayName: driver options
     // @Description: Additional backend specific options
-    // @Bitmask: 0:Use UART2 for moving baseline on ublox,1:Use base station for GPS yaw on SBF,2:Use baudrate 115200,3:Use dedicated CAN port b/w GPSes for moving baseline,4:Use ellipsoid height instead of AMSL, 5:Override GPS satellite health of L5 band from L1 health, 6:Enable RTCM full parse even for a single channel, 7:Disable automatic full RTCM parsing when RTCM seen on more than one channel
+    // @Bitmask: 0:Use UART2 for moving baseline on ublox,1:Use base station for GPS yaw on SBF,2:Use baudrate 115200,3:Use dedicated CAN port b/w GPSes for moving baseline,4:Use ellipsoid height instead of AMSL, 5:Override GPS satellite health of L5 band from L1 health, 6:Enable RTCM full parse even for a single channel, 7:Disable automatic full RTCM parsing when RTCM seen on more than one channel, 8:Log RTCM data
     // @User: Advanced
     AP_GROUPINFO("_DRV_OPTIONS", 22, AP_GPS, _driver_options, 0),
 
@@ -279,14 +279,6 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
     AP_SUBGROUPINFO(params[1], "2_", 33, AP_GPS, AP_GPS::Params),
 #endif
 
-    // @Param: _RTCM_DATA
-    // @DisplayName: RTCM data logging
-    // @Description: Handles logging RTCM data; on uBlox chips that support RTCM data this will log RXM messages into logger;
-    // @Values: 0:Ignore,1:Always log
-    // @RebootRequired: True
-    // @User: Advanced
-    AP_GROUPINFO("_RTCM_DATA", 34, AP_GPS, _rtcm_data, 0),
-
     AP_GROUPEND
 };
 

diff --git a/libraries/AP_GPS/AP_GPS.h b/libraries/AP_GPS/AP_GPS.h
@@ -614,7 +614,6 @@ class AP_GPS
     AP_Enum<SBAS_Mode> _sbas_mode;
     AP_Int8 _min_elevation;
     AP_Int8 _raw_data;
-    AP_Int8 _rtcm_data;
     AP_Int8 _save_config;
     AP_Int8 _auto_config;
     AP_Int8 _blend_mask;
@@ -632,6 +631,7 @@ class AP_GPS
         GPSL5HealthOverride = (1U << 5),
         AlwaysRTCMDecode = (1U << 6),
         DisableRTCMDecode = (1U << 7),
+        LogRTCMData = (1U << 8),
     };
 
     // check if an option is set

diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.cpp b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
@@ -409,7 +409,7 @@ AP_GPS_UBLOX::_request_next_config(void)
         break;
     case STEP_RTCM:
 #if UBLOX_RXM_RTCM_LOGGING
-        if(gps._rtcm_data == 0) {
+        if(!option_set(AP_GPS::DriverOptions::LogRTCMData)) {
             _unconfigured_messages &= ~CONFIG_RATE_RTCM;
         } else if(!_request_message_rate(CLASS_RXM, MSG_RXM_RTCM)) {
             _next_message--;
@@ -611,7 +611,7 @@ AP_GPS_UBLOX::_verify_rate(uint8_t msg_class, uint8_t msg_id, uint8_t rate) {
 #endif // UBLOX_RXM_RAW_LOGGING
 #if UBLOX_RXM_RTCM_LOGGING
         case MSG_RXM_RTCM:
-            desired_rate = gps._rtcm_data;
+            desired_rate = option_set(AP_GPS::DriverOptions::LogRTCMData) ? 1 : 0;
             config_msg_id = CONFIG_RATE_RTCM;
             break;
 #endif // UBLOX_RXM_RTCM_LOGGING
@@ -1530,7 +1530,7 @@ AP_GPS_UBLOX::_parse_gps(void)
 #endif // UBLOX_RXM_RAW_LOGGING
 
 #if UBLOX_RXM_RTCM_LOGGING
-    if (_class == CLASS_RXM && _msg_id == MSG_RXM_RTCM && gps._rtcm_data != 0) {
+    if (_class == CLASS_RXM && _msg_id == MSG_RXM_RTCM && option_set(AP_GPS::DriverOptions::LogRTCMData)) {
         log_rxm_rtcm(_buffer.rxm_rtcm);
         return false;
     }

diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.h b/libraries/AP_GPS/AP_GPS_UBLOX.h
@@ -105,8 +105,8 @@
 #define CONFIG_F9            (1<<19)
 #define CONFIG_M10           (1<<20)
 #define CONFIG_L5            (1<<21)
-#define CONFIG_RATE_RTCM     (1<<21)
-#define CONFIG_LAST          (1<<22) // this must always be the last bit
+#define CONFIG_RATE_RTCM     (1<<22)
+#define CONFIG_LAST          (1<<23) // this must always be the last bit
 
 #define CONFIG_REQUIRED_INITIAL (CONFIG_RATE_NAV | CONFIG_RATE_POSLLH | CONFIG_RATE_STATUS | CONFIG_RATE_VELNED)