FEATURE: Add GNSS2

ArduPilot · May 21, 2024 · 667b477 · 667b477
1 parent 76213e1
commit 667b477
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Showing 3 changed files with 101 additions and 3 deletions.
diff --git a/MethodicConfigurator/ArduCopter_configuration_steps.json b/MethodicConfigurator/ArduCopter_configuration_steps.json
@@ -113,7 +113,7 @@
         "mandatory_text": "0% mandatory (100% optional)",
         "auto_changed_by": ""
     },
-    "10_gnss.param": {
+    "10_gnss1.param": {
         "blog_text": "Configures settings for the Global Navigation Satellite System (GNSS), including positioning and velocity estimation.",
         "blog_url": "https://discuss.ardupilot.org/t/how-to-methodically-tune-almost-any-multicopter-using-arducopter-4-4-x/110842#h-211-configure-the-gnss-receivers-15",
         "wiki_text": "GPS/Compass (landing page) - GPS* parameters",
@@ -123,9 +123,10 @@
         "mandatory_text": "100% mandatory (0% optional)",
         "auto_changed_by": "",
         "derived_parameters": {
-            "GPS_TYPE": { "New Value": "vehicle_components['GNSS receiver']['FC Connection']['Protocol']", "Change Reason": "Defined in component editor" }
+            "GPS_TYPE": { "New Value": "vehicle_components['GNSS receiver1']['FC Connection']['Protocol']", "Change Reason": "Defined in component editor" }
         },
-        "rename_connection": "vehicle_components['GNSS receiver']['FC Connection']['Type']"
+        "rename_connection": "vehicle_components['GNSS receiver1']['FC Connection']['Type']",
+        "old_filenames": ["10_gnss.param"]
     },
     "10_initial_atc.param": {
         "blog_text": "Initial attitude controller configuration",

diff --git a/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.1-params/10_gnss2.param b/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.1-params/10_gnss2.param
@@ -0,0 +1,80 @@
+# GNSS system configuration
+# Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)
+# Bitmask: 0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLONASS
+# Default: 0
+GPS_GNSS_MODE2,7  # limit the constalations to ensure an update rate higher than 5Hz
+
+# Antenna X position offset
+# X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase
+# centroid location if provided by the manufacturer.
+# Units: m (meters)
+# Range: -5 5
+# Increment: 0.01
+# Default: 0
+GPS_POS2_X,0.056  # HX-CH7604A GNSS antenna pahse center location relative to CG
+
+# Antenna Y position offset
+# Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna
+# phase centroid location if provided by the manufacturer.
+# Units: m (meters)
+# Range: -5 5
+# Increment: 0.01
+# Default: 0
+GPS_POS2_Y,0  # HX-CH7604A GNSS antenna pahse center location relative to CG
+
+# Antenna Z position offset
+# Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase
+# centroid location if provided by the manufacturer.
+# Units: m (meters)
+# Range: -5 5
+# Increment: 0.01
+# Default: 0
+GPS_POS2_Z,-0.07  # HX-CH7604A GNSS antenna pahse center location relative to CG
+
+# 1st GPS type
+# GPS type of 1st GPS
+# RebootRequired: True
+# 0: None                                              15: NOVA
+# 1: AUTO                                              16: HemisphereNMEA
+# 2: uBlox                                             17: uBlox-MovingBaseline-Base
+# 5: NMEA                                              18: uBlox-MovingBaseline-Rover
+# 6: SiRF                                              19: MSP
+# 7: HIL                                               20: AllyStar
+# 8: SwiftNav                                          21: ExternalAHRS
+# 9: DroneCAN                                          22: DroneCAN-MovingBaseline-Base
+# 10: SBF                                              23: DroneCAN-MovingBaseline-Rover
+# 11: GSOF                                             24: UnicoreNMEA
+# 13: ERB                                              25: UnicoreMovingBaselineNMEA
+# 14: MAV                                              26: SBF-DualAntenna
+# Default: 1
+GPS_TYPE2,2  # Defined in component editor
+
+# Serial 4 (GPS) protocol selection
+# Control what protocol Serial 4 (GPS) should be used for. Note that the Frsky options require external
+# converter hardware. See the wiki for details.
+# RebootRequired: True
+# -1: None                                             25: LTM
+# 1: MAVLink1                                          26: RunCam
+# 2: MAVLink2                                          27: HottTelem
+# 3: Frsky D                                           28: Scripting
+# 4: Frsky SPort                                       29: Crossfire VTX
+# 5: GPS                                               30: Generator
+# 7: Alexmos Gimbal Serial                             31: Winch
+# 8: Gimbal                                            32: MSP
+# 9: Rangefinder                                       33: DJI FPV
+# 10: FrSky SPort Passthrough (OpenTX)                 34: AirSpeed
+# 11: Lidar360                                         35: ADSB
+# 13: Beacon                                           36: AHRS
+# 14: Volz servo out                                   37: SmartAudio
+# 15: SBus servo out                                   38: FETtecOneWire
+# 16: ESC Telemetry                                    39: Torqeedo
+# 17: Devo Telemetry                                   40: AIS
+# 18: OpticalFlow                                      41: CoDevESC
+# 19: RobotisServo                                     42: DisplayPort
+# 20: NMEA Output                                      43: MAVLink High Latency
+# 21: WindVane                                         44: IRC Tramp
+# 22: SLCAN                                            45: DDS XRCE
+# 23: RCIN                                             46: IMUDATA
+# 24: EFI Serial
+# Default: 5
+SERIAL4_PROTOCOL,5  # GNSS receiver is connected to serial4
diff --git a/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.1-params/vehicle_components.json b/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.1-params/vehicle_components.json
@@ -173,6 +173,23 @@
                 "Protocol": "uBlox"
             },
             "Notes": "A very good receiver with an excellent antenna https://docs.holybro.com/gps-and-rtk-system/gps-led-and-buzzer/status-led-changes"
+        },
+        "GNSS receiver2": {
+            "Product": {
+                "Manufacturer": "Holybro",
+                "Model": "H-RTK F9P Helical",
+                "URL": "https://holybro.com/products/h-rtk-f9p-gnss-series?variant=41466787168445",
+                "Version": "1"
+            },
+            "Firmware": {
+                "Type": "UBlox",
+                "Version": "1.13.2"
+            },
+            "FC Connection": {
+                "Type": "SERIAL4",
+                "Protocol": "uBlox"
+            },
+            "Notes": "A very good receiver with an excellent antenna https://docs.holybro.com/gps-and-rtk-system/gps-led-and-buzzer/status-led-changes"
         }
     }
 }