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Merge pull request #8144 from iNavFlight/dzikuvx-drop-naza-gps
Drop support for NAZA GPS
This commit is contained in:
Paweł Spychalski
GitHub
commit
c1f8e92a1c
13 changed files with 29 additions and 479 deletions
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@ -1414,7 +1414,7 @@ Yaw Iterm is frozen when bank angle is above this threshold [degrees]. This solv
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### gps_auto_baud
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Automatic configuration of GPS baudrate(The specified baudrate in configured in ports will be used) when used with UBLOX GPS. When used with NAZA/DJI it will automatic detect GPS baudrate and change to it, ignoring the selected baudrate set in ports
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Automatic configuration of GPS baudrate(The specified baudrate in configured in ports will be used) when used with UBLOX GPS
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| Default | Min | Max |
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| --- | --- | --- |
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@ -506,7 +506,6 @@ main_sources(COMMON_SRC
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io/gps.h
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io/gps_ublox.c
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io/gps_nmea.c
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io/gps_naza.c
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io/gps_msp.c
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io/gps_private.h
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io/ledstrip.c
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@ -13,7 +13,7 @@ tables:
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values: ["NONE", "BNO055", "BNO055_SERIAL"]
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enum: secondaryImuType_e
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- name: mag_hardware
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values: ["NONE", "AUTO", "HMC5883", "AK8975", "GPSMAG", "MAG3110", "AK8963", "IST8310", "QMC5883", "MPU9250", "IST8308", "LIS3MDL", "MSP", "RM3100", "VCM5883", "MLX90393", "FAKE"]
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values: ["NONE", "AUTO", "HMC5883", "AK8975", "MAG3110", "AK8963", "IST8310", "QMC5883", "MPU9250", "IST8308", "LIS3MDL", "MSP", "RM3100", "VCM5883", "MLX90393", "FAKE"]
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enum: magSensor_e
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- name: opflow_hardware
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values: ["NONE", "CXOF", "MSP", "FAKE"]
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@ -47,7 +47,7 @@ tables:
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values: ["NONE", "ADC", "ESC"]
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enum: voltageSensor_e
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- name: gps_provider
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values: ["NMEA", "UBLOX", "NAZA", "UBLOX7", "MTK", "MSP"]
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values: ["NMEA", "UBLOX", "UBLOX7", "MSP"]
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enum: gpsProvider_e
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- name: gps_sbas_mode
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values: ["AUTO", "EGNOS", "WAAS", "MSAS", "GAGAN", "NONE"]
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@ -1619,7 +1619,7 @@ groups:
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field: autoConfig
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type: bool
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- name: gps_auto_baud
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description: "Automatic configuration of GPS baudrate(The specified baudrate in configured in ports will be used) when used with UBLOX GPS. When used with NAZA/DJI it will automatic detect GPS baudrate and change to it, ignoring the selected baudrate set in ports"
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description: "Automatic configuration of GPS baudrate(The specified baudrate in configured in ports will be used) when used with UBLOX GPS"
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default_value: ON
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field: autoBaud
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type: bool
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@ -63,7 +63,6 @@
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typedef struct {
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bool isDriverBased;
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portMode_t portMode; // Port mode RX/TX (only for serial based)
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bool hasCompass; // Has a compass (NAZA)
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void (*restart)(void); // Restart protocol driver thread
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void (*protocol)(void); // Process protocol driver thread
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} gpsProviderDescriptor_t;
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@ -79,41 +78,34 @@ baudRate_e gpsToSerialBaudRate[GPS_BAUDRATE_COUNT] = { BAUD_115200, BAUD_57600,
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static gpsProviderDescriptor_t gpsProviders[GPS_PROVIDER_COUNT] = {
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/* NMEA GPS */
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#ifdef USE_GPS_PROTO_NMEA
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{ false, MODE_RX, false, &gpsRestartNMEA, &gpsHandleNMEA },
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{ false, MODE_RX, gpsRestartNMEA, &gpsHandleNMEA },
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#else
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{ false, 0, false, NULL, NULL },
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{ false, 0, NULL, NULL },
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#endif
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/* UBLOX binary */
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#ifdef USE_GPS_PROTO_UBLOX
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{ false, MODE_RXTX, false, &gpsRestartUBLOX, &gpsHandleUBLOX },
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{ false, MODE_RXTX, &gpsRestartUBLOX, &gpsHandleUBLOX },
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#else
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{ false, 0, false, NULL, NULL },
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#endif
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/* NAZA GPS module */
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#ifdef USE_GPS_PROTO_NAZA
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{ false, MODE_RX, true, &gpsRestartNAZA, &gpsHandleNAZA },
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#else
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{ false, 0, false, NULL, NULL },
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{ false, 0, NULL, NULL },
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#endif
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/* UBLOX7PLUS binary */
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#ifdef USE_GPS_PROTO_UBLOX
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{ false, MODE_RXTX, false, &gpsRestartUBLOX, &gpsHandleUBLOX },
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{ false, MODE_RXTX, &gpsRestartUBLOX, &gpsHandleUBLOX },
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#else
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{ false, 0, false, NULL, NULL },
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{ false, 0, NULL, NULL },
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#endif
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/* MSP GPS */
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#ifdef USE_GPS_PROTO_MSP
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{ true, 0, false, &gpsRestartMSP, &gpsHandleMSP },
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{ true, 0, &gpsRestartMSP, &gpsHandleMSP },
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#else
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{ false, 0, false, NULL, NULL },
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{ false, 0, NULL, NULL },
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#endif
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};
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PG_REGISTER_WITH_RESET_TEMPLATE(gpsConfig_t, gpsConfig, PG_GPS_CONFIG, 1);
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PG_REGISTER_WITH_RESET_TEMPLATE(gpsConfig_t, gpsConfig, PG_GPS_CONFIG, 2);
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PG_RESET_TEMPLATE(gpsConfig_t, gpsConfig,
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.provider = SETTING_GPS_PROVIDER_DEFAULT,
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@ -440,36 +432,6 @@ void updateGpsIndicator(timeUs_t currentTimeUs)
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}
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}
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/* Support for built-in magnetometer accessible via the native GPS protocol (i.e. NAZA) */
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bool gpsMagInit(magDev_t *magDev)
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{
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UNUSED(magDev);
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return true;
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}
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bool gpsMagRead(magDev_t *magDev)
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{
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magDev->magADCRaw[X] = gpsSol.magData[0];
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magDev->magADCRaw[Y] = gpsSol.magData[1];
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magDev->magADCRaw[Z] = gpsSol.magData[2];
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return gpsSol.flags.validMag;
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}
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bool gpsMagDetect(magDev_t *mag)
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{
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if (!(feature(FEATURE_GPS) && gpsProviders[gpsState.gpsConfig->provider].hasCompass)) {
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return false;
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}
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if (!gpsProviders[gpsState.gpsConfig->provider].protocol || !findSerialPortConfig(FUNCTION_GPS)) {
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return false;
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}
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mag->init = gpsMagInit;
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mag->read = gpsMagRead;
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return true;
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}
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bool isGPSHealthy(void)
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{
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return true;
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@ -34,7 +34,6 @@
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typedef enum {
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GPS_NMEA = 0,
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GPS_UBLOX,
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GPS_NAZA,
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GPS_UBLOX7PLUS,
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GPS_MSP,
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GPS_PROVIDER_COUNT
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@ -152,7 +151,6 @@ extern gpsSolutionData_t gpsSol;
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extern gpsStatistics_t gpsStats;
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struct magDev_s;
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bool gpsMagDetect(struct magDev_s *mag);
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void gpsPreInit(void);
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void gpsInit(void);
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// Called periodically from GPS task. Returns true iff the GPS
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@ -1,383 +0,0 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <ctype.h>
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#include <string.h>
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#include <math.h>
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#include "platform.h"
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#include "build/build_config.h"
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#if defined(USE_GPS) && defined(USE_GPS_PROTO_NAZA)
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#include "build/debug.h"
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#include "common/axis.h"
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#include "common/gps_conversion.h"
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#include "common/maths.h"
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#include "common/utils.h"
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#include "drivers/serial.h"
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#include "drivers/time.h"
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#include "fc/config.h"
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#include "fc/runtime_config.h"
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#include "io/gps.h"
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#include "io/gps_private.h"
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#include "io/serial.h"
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#include "scheduler/protothreads.h"
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#define NAZA_MAX_PAYLOAD_SIZE 256
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typedef struct {
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uint8_t res[4]; // 0
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uint8_t fw[4]; // 4
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uint8_t hw[4]; // 8
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} naza_ver;
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typedef struct {
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uint16_t x; // 0
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uint16_t y; // 2
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uint16_t z; // 4
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} naza_mag;
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typedef struct {
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uint32_t time; // GPS msToW 0
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int32_t longitude; // 4
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int32_t latitude; // 8
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int32_t altitude_msl; // 12
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int32_t h_acc; // 16
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int32_t v_acc; // 20
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int32_t reserved;
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int32_t ned_north; // 28
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int32_t ned_east; // 32
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int32_t ned_down; // 36
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uint16_t pdop; // 40
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uint16_t vdop; // 42
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uint16_t ndop; // 44
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uint16_t edop; // 46
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uint8_t satellites; // 48
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uint8_t reserved3; //
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uint8_t fix_type; // 50
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uint8_t reserved4; //
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uint8_t fix_status; // 52
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uint8_t reserved5;
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uint8_t reserved6;
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uint8_t mask; // 55
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} naza_nav;
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enum {
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HEADER1 = 0x55,
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HEADER2 = 0xAA,
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ID_NAV = 0x10,
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ID_MAG = 0x20,
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ID_VER = 0x30,
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LEN_NAV = 0x3A,
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LEN_MAG = 0x06,
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} naza_protocol_bytes;
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typedef enum {
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NO_FIX = 0,
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FIX_2D = 2,
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FIX_3D = 3,
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FIX_DGPS = 4
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} fixType_t;
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// Receive buffer
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static union {
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naza_mag mag;
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naza_nav nav;
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naza_ver ver;
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uint8_t bytes[NAZA_MAX_PAYLOAD_SIZE];
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} _buffernaza;
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// Packet checksum accumulators
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static uint8_t _ck_a;
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static uint8_t _ck_b;
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// State machine state
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static bool _skip_packet;
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static uint8_t _step;
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static uint8_t _msg_id;
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static uint16_t _payload_length;
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static uint16_t _payload_counter;
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// do we have new position information?
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static bool _new_position;
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// do we have new speed information?
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static bool _new_speed;
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int32_t decodeLong(uint32_t idx, uint8_t mask)
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{
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union { uint32_t l; uint8_t b[4]; } val;
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val.l=idx;
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for (int i = 0; i < 4; i++) val.b[i] ^= mask;
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return val.l;
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}
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int16_t decodeShort(uint16_t idx, uint8_t mask)
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{
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union { uint16_t s; uint8_t b[2]; } val;
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val.s=idx;
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for (int i = 0; i < 2; i++) val.b[i] ^= mask;
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return val.s;
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}
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static bool NAZA_parse_gps(void)
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{
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uint8_t mask;
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uint8_t mask_mag;
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switch (_msg_id) {
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case ID_NAV:
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mask = _buffernaza.nav.mask;
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uint32_t time = decodeLong(_buffernaza.nav.time, mask);
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gpsSol.time.seconds = time & 0b00111111; time >>= 6;
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gpsSol.time.minutes = time & 0b00111111; time >>= 6;
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gpsSol.time.hours = time & 0b00001111; time >>= 4;
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gpsSol.time.day = gpsSol.time.hours > 7?(time & 0b00011111) + 1:(time & 0b00011111); time >>= 5;
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gpsSol.time.month = time & 0b00001111; time >>= 4;
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gpsSol.time.year = (time & 0b01111111) + 2000;
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gpsSol.llh.lon = decodeLong(_buffernaza.nav.longitude, mask);
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gpsSol.llh.lat = decodeLong(_buffernaza.nav.latitude, mask);
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gpsSol.llh.alt = decodeLong(_buffernaza.nav.altitude_msl, mask) / 10.0f; //alt in cm
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uint8_t fixType = _buffernaza.nav.fix_type ^ mask;
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//uint8_t fixFlags = _buffernaza.nav.fix_status ^ mask;
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//uint8_t r3 = _buffernaza.nav.reserved3 ^ mask;
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//uint8_t r4 = _buffernaza.nav.reserved4 ^ mask;
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//uint8_t r5 = _buffernaza.nav.reserved5 ^ mask;
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//uint8_t r6 = _buffernaza.nav.reserved6 ^ mask;
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if (fixType == FIX_2D)
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gpsSol.fixType = GPS_FIX_2D;
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else if (fixType == FIX_3D)
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gpsSol.fixType = GPS_FIX_3D;
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else
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gpsSol.fixType = GPS_NO_FIX;
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uint32_t h_acc = decodeLong(_buffernaza.nav.h_acc, mask); // mm
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uint32_t v_acc = decodeLong(_buffernaza.nav.v_acc, mask); // mm
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//uint32_t test = decodeLong(_buffernaza.nav.reserved, mask);
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gpsSol.velNED[X] = decodeLong(_buffernaza.nav.ned_north, mask); // cm/s
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gpsSol.velNED[Y] = decodeLong(_buffernaza.nav.ned_east, mask); // cm/s
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gpsSol.velNED[Z] = decodeLong(_buffernaza.nav.ned_down, mask); // cm/s
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uint16_t pdop = decodeShort(_buffernaza.nav.pdop, mask); // pdop
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gpsSol.hdop = gpsConstrainEPE(pdop); // PDOP
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gpsSol.eph = gpsConstrainEPE(h_acc / 10); // hAcc in cm
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gpsSol.epv = gpsConstrainEPE(v_acc / 10); // vAcc in cm
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gpsSol.numSat = _buffernaza.nav.satellites;
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gpsSol.groundSpeed = calc_length_pythagorean_2D(gpsSol.velNED[X], gpsSol.velNED[Y]); //cm/s
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// calculate gps heading from VELNE
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gpsSol.groundCourse = (uint16_t)(fmodf(RADIANS_TO_DECIDEGREES(atan2_approx(gpsSol.velNED[Y], gpsSol.velNED[X])) + 3600.0f, 3600.0f));
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gpsSol.flags.validVelNE = 1;
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gpsSol.flags.validVelD = 1;
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gpsSol.flags.validEPE = 1;
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gpsSol.flags.validTime = 1;
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_new_position = true;
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_new_speed = true;
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break;
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case ID_MAG:
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mask_mag = (_buffernaza.mag.z)&0xFF;
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mask_mag = (((mask_mag ^ (mask_mag >> 4)) & 0x0F) | ((mask_mag << 3) & 0xF0)) ^ (((mask_mag & 0x01) << 3) | ((mask_mag & 0x01) << 7));
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gpsSol.magData[0] = decodeShort(_buffernaza.mag.x, mask_mag);
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gpsSol.magData[1] = decodeShort(_buffernaza.mag.y, mask_mag);
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gpsSol.magData[2] = (_buffernaza.mag.z ^ (mask_mag<<8));
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gpsSol.flags.validMag = 1;
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break;
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case ID_VER:
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break;
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default:
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return false;
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}
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// we only return true when we get new position and speed data
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// this ensures we don't use stale data
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if (_new_position && _new_speed) {
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_new_speed = _new_position = false;
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return true;
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}
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return false;
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}
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static bool gpsNewFrameNAZA(uint8_t data)
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{
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bool parsed = false;
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switch (_step) {
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case 0: // Sync char 1 (0x55)
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if (HEADER1 == data) {
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_skip_packet = false;
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_step++;
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}
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break;
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case 1: // Sync char 2 (0xAA)
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if (HEADER2 != data) {
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_step = 0;
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break;
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}
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_step++;
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break;
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case 2: // Id
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_step++;
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_ck_b = _ck_a = data; // reset the checksum accumulators
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_msg_id = data;
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break;
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case 3: // Payload length
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_step++;
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_ck_b += (_ck_a += data); // checksum byte
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_payload_length = data; // payload length low byte
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if (_payload_length > NAZA_MAX_PAYLOAD_SIZE) {
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// we can't receive the whole packet, just log the error and start searching for the next packet.
|
||||
gpsStats.errors++;
|
||||
_step = 0;
|
||||
break;
|
||||
}
|
||||
// prepare to receive payload
|
||||
_payload_counter = 0;
|
||||
if (_payload_length == 0) {
|
||||
_step = 6;
|
||||
}
|
||||
break;
|
||||
case 4:
|
||||
_ck_b += (_ck_a += data); // checksum byte
|
||||
if (_payload_counter < NAZA_MAX_PAYLOAD_SIZE) {
|
||||
_buffernaza.bytes[_payload_counter] = data;
|
||||
}
|
||||
if (++_payload_counter >= _payload_length) {
|
||||
_step++;
|
||||
}
|
||||
break;
|
||||
case 5:
|
||||
_step++;
|
||||
if (_ck_a != data) {
|
||||
_skip_packet = true; // bad checksum
|
||||
gpsStats.errors++;
|
||||
}
|
||||
break;
|
||||
case 6:
|
||||
_step = 0;
|
||||
if (_ck_b != data) {
|
||||
gpsStats.errors++;
|
||||
break; // bad checksum
|
||||
}
|
||||
|
||||
gpsStats.packetCount++;
|
||||
|
||||
if (_skip_packet) {
|
||||
break;
|
||||
}
|
||||
|
||||
if (NAZA_parse_gps()) {
|
||||
parsed = true;
|
||||
}
|
||||
}
|
||||
return parsed;
|
||||
}
|
||||
|
||||
static ptSemaphore_t semNewDataReady;
|
||||
|
||||
STATIC_PROTOTHREAD(gpsProtocolReceiverThread)
|
||||
{
|
||||
ptBegin(gpsProtocolReceiverThread);
|
||||
|
||||
while (1) {
|
||||
// Wait until there are bytes to consume
|
||||
ptWait(serialRxBytesWaiting(gpsState.gpsPort));
|
||||
|
||||
// Consume bytes until buffer empty of until we have full message received
|
||||
while (serialRxBytesWaiting(gpsState.gpsPort)) {
|
||||
uint8_t newChar = serialRead(gpsState.gpsPort);
|
||||
if (gpsNewFrameNAZA(newChar)) {
|
||||
ptSemaphoreSignal(semNewDataReady);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
ptEnd(0);
|
||||
}
|
||||
|
||||
STATIC_PROTOTHREAD(gpsProtocolStateThread)
|
||||
{
|
||||
ptBegin(gpsProtocolStateThread);
|
||||
|
||||
// Change baud rate
|
||||
ptWait(isSerialTransmitBufferEmpty(gpsState.gpsPort));
|
||||
if (gpsState.gpsConfig->autoBaud != GPS_AUTOBAUD_OFF) {
|
||||
// Cycle through available baud rates and hope that we will match GPS
|
||||
serialSetBaudRate(gpsState.gpsPort, baudRates[gpsToSerialBaudRate[gpsState.autoBaudrateIndex]]);
|
||||
gpsState.autoBaudrateIndex = (gpsState.autoBaudrateIndex + 1) % GPS_BAUDRATE_COUNT;
|
||||
ptDelayMs(GPS_BAUD_CHANGE_DELAY);
|
||||
}
|
||||
else {
|
||||
// Set baud rate
|
||||
serialSetBaudRate(gpsState.gpsPort, baudRates[gpsToSerialBaudRate[gpsState.baudrateIndex]]);
|
||||
}
|
||||
|
||||
// No configuration is done for NAZA GPS
|
||||
|
||||
// GPS setup done, reset timeout
|
||||
gpsSetProtocolTimeout(GPS_TIMEOUT);
|
||||
|
||||
// GPS is ready - execute the gpsProcessNewSolutionData() based on gpsProtocolReceiverThread semaphore
|
||||
while (1) {
|
||||
ptSemaphoreWait(semNewDataReady);
|
||||
gpsProcessNewSolutionData();
|
||||
}
|
||||
|
||||
ptEnd(0);
|
||||
}
|
||||
|
||||
void gpsRestartNAZA(void)
|
||||
{
|
||||
ptSemaphoreInit(semNewDataReady);
|
||||
ptRestart(ptGetHandle(gpsProtocolReceiverThread));
|
||||
ptRestart(ptGetHandle(gpsProtocolStateThread));
|
||||
}
|
||||
|
||||
void gpsHandleNAZA(void)
|
||||
{
|
||||
// Run the protocol threads
|
||||
gpsProtocolReceiverThread();
|
||||
gpsProtocolStateThread();
|
||||
|
||||
// If thread stopped - signal communication loss and restart
|
||||
if (ptIsStopped(ptGetHandle(gpsProtocolReceiverThread)) || ptIsStopped(ptGetHandle(gpsProtocolStateThread))) {
|
||||
gpsSetState(GPS_LOST_COMMUNICATION);
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
@ -74,9 +74,6 @@ extern void gpsHandleUBLOX(void);
|
|||
extern void gpsRestartNMEA(void);
|
||||
extern void gpsHandleNMEA(void);
|
||||
|
||||
extern void gpsRestartNAZA(void);
|
||||
extern void gpsHandleNAZA(void);
|
||||
|
||||
extern void gpsRestartMSP(void);
|
||||
extern void gpsHandleMSP(void);
|
||||
|
||||
|
|
|
|||
|
|
@ -64,7 +64,7 @@ mag_t mag; // mag access functions
|
|||
|
||||
#ifdef USE_MAG
|
||||
|
||||
PG_REGISTER_WITH_RESET_TEMPLATE(compassConfig_t, compassConfig, PG_COMPASS_CONFIG, 5);
|
||||
PG_REGISTER_WITH_RESET_TEMPLATE(compassConfig_t, compassConfig, PG_COMPASS_CONFIG, 6);
|
||||
|
||||
PG_RESET_TEMPLATE(compassConfig_t, compassConfig,
|
||||
.mag_align = SETTING_ALIGN_MAG_DEFAULT,
|
||||
|
|
@ -146,19 +146,6 @@ bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse)
|
|||
}
|
||||
FALLTHROUGH;
|
||||
|
||||
case MAG_GPS:
|
||||
#ifdef USE_GPS
|
||||
if (gpsMagDetect(dev)) {
|
||||
magHardware = MAG_GPS;
|
||||
break;
|
||||
}
|
||||
#endif
|
||||
/* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
|
||||
if (magHardwareToUse != MAG_AUTODETECT) {
|
||||
break;
|
||||
}
|
||||
FALLTHROUGH;
|
||||
|
||||
case MAG_MAG3110:
|
||||
#ifdef USE_MAG_MAG3110
|
||||
if (mag3110detect(dev)) {
|
||||
|
|
|
|||
|
|
@ -29,22 +29,21 @@
|
|||
// Type of magnetometer used/detected
|
||||
typedef enum {
|
||||
MAG_NONE = 0,
|
||||
MAG_AUTODETECT = 1,
|
||||
MAG_HMC5883 = 2,
|
||||
MAG_AK8975 = 3,
|
||||
MAG_GPS = 4,
|
||||
MAG_MAG3110 = 5,
|
||||
MAG_AK8963 = 6,
|
||||
MAG_IST8310 = 7,
|
||||
MAG_QMC5883 = 8,
|
||||
MAG_MPU9250 = 9,
|
||||
MAG_IST8308 = 10,
|
||||
MAG_LIS3MDL = 11,
|
||||
MAG_MSP = 12,
|
||||
MAG_RM3100 = 13,
|
||||
MAG_VCM5883 = 14,
|
||||
MAG_MLX90393 = 15,
|
||||
MAG_FAKE = 16,
|
||||
MAG_AUTODETECT,
|
||||
MAG_HMC5883,
|
||||
MAG_AK8975,
|
||||
MAG_MAG3110,
|
||||
MAG_AK8963,
|
||||
MAG_IST8310,
|
||||
MAG_QMC5883,
|
||||
MAG_MPU9250,
|
||||
MAG_IST8308,
|
||||
MAG_LIS3MDL,
|
||||
MAG_MSP,
|
||||
MAG_RM3100,
|
||||
MAG_VCM5883,
|
||||
MAG_MLX90393,
|
||||
MAG_FAKE,
|
||||
MAG_MAX = MAG_FAKE
|
||||
} magSensor_e;
|
||||
|
||||
|
|
|
|||
|
|
@ -106,8 +106,6 @@
|
|||
//#undef USE_GPS
|
||||
#undef USE_GPS_PROTO_NMEA
|
||||
//#undef USE_GPS_PROTO_UBLOX
|
||||
#undef USE_GPS_PROTO_I2C_NAV
|
||||
#undef USE_GPS_PROTO_NAZA
|
||||
|
||||
// Number of available PWM outputs
|
||||
#define MAX_PWM_OUTPUT_PORTS 8
|
||||
|
|
|
|||
|
|
@ -94,9 +94,6 @@
|
|||
#define USE_RATE_DYNAMICS
|
||||
#define USE_EXTENDED_CMS_MENUS
|
||||
|
||||
// NAZA GPS support for F4+ only
|
||||
#define USE_GPS_PROTO_NAZA
|
||||
|
||||
// Allow default rangefinders
|
||||
#define USE_RANGEFINDER
|
||||
#define USE_RANGEFINDER_MSP
|
||||
|
|
|
|||
|
|
@ -22,8 +22,6 @@
|
|||
#define USE_GPS
|
||||
#define USE_GPS_PROTO_NMEA
|
||||
#define USE_GPS_PROTO_UBLOX
|
||||
#define USE_GPS_PROTO_I2C_NAV
|
||||
#define USE_GPS_PROTO_NAZA
|
||||
#define USE_DASHBOARD
|
||||
#define USE_TELEMETRY
|
||||
#define USE_TELEMETRY_FRSKY
|
||||
|
|
|
|||
|
|
@ -28,8 +28,6 @@ RENAMES = [
|
|||
'TELEMETRY_FRSKY',
|
||||
'CMS',
|
||||
'GPS_PROTO_NMEA',
|
||||
'GPS_PROTO_I2C_NAV',
|
||||
'GPS_PROTO_NAZA',
|
||||
'GPS_PROTO_UBLOX_NEO7PLUS',
|
||||
'TELEMETRY_HOTT',
|
||||
'TELEMETRY_IBUS',
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue