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Merge branch 'master' into apollo

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This commit is contained in:
Ben Meadors
2023-12-12 17:39:18 -06:00
committed by GitHub
parent 55a75d2f58 d14d2c89c3
commit b2a313780f
46 changed files with 477 additions and 128 deletions
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22
src/gps/GPS.cpp
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@@ -293,7 +293,7 @@ bool GPS::setup()
gnssModel = GNSS_MODEL_UNKNOWN;
}
#else
gnssModel = GNSS_MODEL_UC6850;
gnssModel = GNSS_MODEL_UC6580;
#endif
if (gnssModel == GNSS_MODEL_MTK) {
@@ -311,11 +311,23 @@ bool GPS::setup()
// Switch to Vehicle Mode, since SoftRF enables Aviation < 2g
_serial_gps->write("$PCAS11,3*1E\r\n");
delay(250);
} else if (gnssModel == GNSS_MODEL_UC6850) {
// use GPS + GLONASS
_serial_gps->write("$CFGSYS,h15\r\n");
} else if (gnssModel == GNSS_MODEL_UC6580) {
// The Unicore UC6580 can use a lot of sat systems, enable it to
// use GPS L1 & L5 + BDS B1I & B2a + GLONASS L1 + GALILEO E1 & E5a + SBAS
// This will reset the receiver, so wait a bit afterwards
// The paranoid will wait for the OK*04 confirmation response after each command.
_serial_gps->write("$CFGSYS,h25155\r\n");
delay(750);
// Must be done after the CFGSYS command
// Turn off GSV messages, we don't really care about which and where the sats are, maybe someday.
_serial_gps->write("$CFGMSG,0,3,0\r\n");
delay(250);
// Turn off NOTICE __TXT messages, these may provide Unicore some info but we don't care.
_serial_gps->write("$CFGMSG,6,0,0\r\n");
delay(250);
_serial_gps->write("$CFGMSG,6,1,0\r\n");
delay(250);
} else if (gnssModel == GNSS_MODEL_UBLOX) {
// Configure GNSS system to GPS+SBAS+GLONASS (Module may restart after this command)
// We need set it because by default it is GPS only, and we want to use GLONASS too