gps(septentrio): add dual-receiver moving base heading #23123
+2,625
−48
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Having a generic interface over the GPS drivers makes dedicated functionality for each driver harder. Move the Septentrio driver into its own module under the `gnss` driver directory, and let it have its own parameters for only the functionality it requires. This also helps with adding new features because they only need to be implemented for the driver that wants it, simplifying testing.
Add support for two receivers which was also present in the original GPS drivers. Also fix the reset command which didn't work.
This removes the SBF code from the common GPS drivers which frees up space to include the Septentrio driver module by default on some boards.
Add back parameters to choose baud rate and automatically detect baud rate to use in configuration.
Add support for heading computation using two receivers, one as a moving base and one as a rover calculating the heading based on corrections from the moving base.
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Solved Problem
Some users want to use two receivers to compute heading instead of one with two antennas. Two Septentrio receivers can receive the L5 band which makes the setup better in difficult scenarios where GNSS signal reception might be poor.
Fixes /
Solution
SEP_MODEfor receiver setup selectionChangelog Entry
For release notes:
Alternatives
/
Test coverage
/
Context
/