[gps_bebop] only enable NMEA on bebop since some modules only provide…

… nmea after firmware updates
paparazzi · Oct 23, 2016 · d587e10 · d587e10
1 parent 9956f97
commit d587e10
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Showing 3 changed files with 9 additions and 3 deletions.
diff --git a/conf/modules/gps_ubx_ucenter.xml b/conf/modules/gps_ubx_ucenter.xml
@@ -17,6 +17,7 @@ Warning: you still need to tell the driver, which paparazzi port you use.
             value="NAV5_DYN_PORTABLE|NAV5_DYN_FIXED|NAV5_DYN_STATIONARY|NAV5_DYN_PEDESTRIAN|NAV5_DYN_AUTOMOTIVE|NAV5_DYN_SEA|NAV5_DYN_AIRBORNE_1G|NAV5_DYN_AIRBORNE_2G|NAV5_DYN_AIRBORNE_4G"
             description="Dynamic model used by ublox GPS filter. Default:NAV5_DYN_AIRBORNE_2G"/>
     <define name="USE_GPS_UBX_RXM_RAW" description="Activate raw measurments (only available on U-Blox T versions)"/>
+    <define name="GPS_UBX_ENABLE_NMEA_DATA_MASK" value="0x00|0xff" description="NMEA is disabled by default (0x00). To enable NMEA and UBX, set MASK to 0xff."/>
   </doc>
 
   <settings>

diff --git a/sw/airborne/boards/bebop.h b/sw/airborne/boards/bebop.h
@@ -82,6 +82,7 @@
 
 /** uart connected to GPS internally */
 #define UART1_DEV /dev/ttyPA1
+#define GPS_UBX_ENABLE_NMEA_DATA_MASK 0xff
 /** FTDI cable for stereoboard or external GPS */
 #define UART2_DEV /dev/ttyUSB0
 

diff --git a/sw/airborne/modules/gps/gps_ubx_ucenter.c b/sw/airborne/modules/gps/gps_ubx_ucenter.c
@@ -31,9 +31,9 @@
 #include "subsystems/gps/gps_ubx.h"
 #include "ubx_protocol.h"
 #include "subsystems/datalink/downlink.h"
-#include <stdio.h>
 
 #if PRINT_DEBUG_GPS_UBX_UCENTER
+#include <stdio.h>
 #define DEBUG_PRINT(...) printf(__VA_ARGS__)
 #else
 #define DEBUG_PRINT(...) {}
@@ -347,6 +347,10 @@ static bool gps_ubx_ucenter_autobaud(uint8_t nr)
 #define GPS_UBX_NAV5_DYNAMICS NAV5_DYN_AIRBORNE_2G
 #endif
 
+#ifndef GPS_UBX_ENABLE_NMEA_DATA_MASK
+#define GPS_UBX_ENABLE_NMEA_DATA_MASK 0x00
+#endif
+
 #define NAV5_MASK 0x05 // Apply dynamic model and position fix mode settings
 
 #define NAV5_2D_ONLY 1
@@ -425,13 +429,13 @@ static inline void gps_ubx_ucenter_config_port(void)
       UbxSend_CFG_PRT(gps_ubx_ucenter.dev,
           gps_ubx_ucenter.port_id, 0x0, 0x0,
           UBX_UART_MODE_MASK, UART_SPEED(gps_ubx_ucenter.baud_target), UBX_PROTO_MASK | NMEA_PROTO_MASK,
-          UBX_PROTO_MASK| NMEA_PROTO_MASK, 0x0, 0x0);
+          UBX_PROTO_MASK | (NMEA_PROTO_MASK & GPS_UBX_ENABLE_NMEA_DATA_MASK), 0x0, 0x0);
       break;
       // USB Interface
     case GPS_PORT_USB:
       UbxSend_CFG_PRT(gps_ubx_ucenter.dev,
           gps_ubx_ucenter.port_id, 0x0, 0x0, 0x0, 0x0,
-          UBX_PROTO_MASK | NMEA_PROTO_MASK, UBX_PROTO_MASK| NMEA_PROTO_MASK, 0x0, 0x0);
+          UBX_PROTO_MASK | NMEA_PROTO_MASK, UBX_PROTO_MASK| (NMEA_PROTO_MASK & GPS_UBX_ENABLE_NMEA_DATA_MASK), 0x0, 0x0);
       break;
     case GPS_PORT_SPI:
       DEBUG_PRINT("WARNING: ublox SPI port is currently not supported.\n");