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Re: [Paparazzi-devel] TWOG and gps_ubx_ucenter module
From: |
Christophe De Wagter |
Subject: |
Re: [Paparazzi-devel] TWOG and gps_ubx_ucenter module |
Date: |
Sun, 29 Jul 2012 21:18:23 +0200 |
Dear Jeremy,
The gps_ubx_ucenter module does exactly the same on all LPC21 variants of autopilots, actually even on the STM32's. The only possible differences can be:
1) Rx-Tx pins swapped
2) Uart0 <-> Uart1 swapped
3) Non correct voltage supply to GPS (5v gps or 3.3v ?)
4) ROTORCRAFT <-> FIXEDWING firmware (configures rate of NAV_SOL to 1Hz on fixedwing that use LLH for position and 4Hz for rotorcraft with ECEF->LTP position)
5) most UBlox have 2 or more ttl ports, a usb port and even an i2c port. Depending on the GPS board it can be ublox_port1 or ublox_port2 that is routed to the pins (not to confuse with paparazzi_lpc_port0 and port1) The ubx_module can configure the GPS to give its messages on another port with the
GPS_PORT_ID define. If not provided, the module assumes
GPS_PORT_UART1. But you can define more options:
https://github.com/paparazzi/paparazzi/blob/v4.0/sw/airborne/modules/gps/gps_ubx_ucenter.c LINE 267 ->
6) Other airframe file related problem: e.g. trying to run umarin itg3200 imu code in a twog that has not have it... (imu does stops the boot if not configured correctly)