GPS: Protocol-independent stack. UBLOX binary driver implementation. Autoconfig works. Autobaud works.

GPS: Native MAG support (for future NAZA GPS support), bugfixes

GPS: Supported GPS protocols on a per-target basis

src/main/sensors/initialisation.c

@@ -72,6 +72,10 @@
 #include "hardware_revision.h"
 #endif
 
+#ifdef GPS
+extern bool gpsMagDetect(mag_t *mag);
+#endif
+
 extern float magneticDeclination;
 
 extern gyro_t gyro;
@@ -674,6 +678,18 @@ retry:
 #endif
             ; // fallthrough
 
+        case MAG_GPS:
+#ifdef GPS
+            if (gpsMagDetect(&mag)) {
+#ifdef MAG_GPS_ALIGN
+                magAlign = MAG_GPS_ALIGN;
+#endif
+                magHardware = MAG_GPS;
+                break;
+            }
+#endif
+            ; // fallthrough
+
         case MAG_FAKE:
 #ifdef USE_FAKE_MAG
             if (fakeMagDetect(&mag)) {