hwdef: enable GPS_MOVING_BASELINE on FreeflyRTK and f303-GPS

this allows for F9P based dual-GPS yaw on DroneCAN peripherals with auto-config
3 years ago · 74f1a8007d
3 changed files with 7 additions and 0 deletions
--- a/libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef.dat
@ -130,6 +130,7 @@ define AP_PARAM_MAX_EMBEDDED_PARAM 256
				@@ -130,6 +130,7 @@ define AP_PARAM_MAX_EMBEDDED_PARAM 256
 # disable dual GPS and GPS blending to save flash space
 define GPS_MAX_RECEIVERS 1
 define GPS_MAX_INSTANCES 1
+define GPS_MOVING_BASELINE 1
 define HAL_COMPASS_MAX_SENSORS 1

 # GPS+MAG+BARO+Buzzer+NeoPixels
--- a/libraries/AP_HAL_ChibiOS/hwdef/f303-GPS/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/f303-GPS/hwdef.dat
@ -14,3 +14,6 @@ define HAL_PROBE_EXTERNAL_I2C_COMPASSES
				@@ -14,3 +14,6 @@ define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 define HAL_PERIPH_ENABLE_GPS
 define HAL_PERIPH_ENABLE_MAG
 define HAL_PERIPH_ENABLE_NCP5623_LED_WITHOUT_NOTIFY
+
+# allow for F9P GPS modules with moving baseline
+define GPS_MOVING_BASELINE 1
--- a/libraries/AP_HAL_ChibiOS/hwdef/f303-Universal/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/f303-Universal/hwdef.dat
@ -16,6 +16,9 @@ define HAL_PERIPH_ENABLE_ADSB
				@@ -16,6 +16,9 @@ define HAL_PERIPH_ENABLE_ADSB
 define HAL_PERIPH_ENABLE_NCP5623_LED_WITHOUT_NOTIFY
 define HAL_PERIPH_ENABLE_RANGEFINDER

+# allow for F9P GPS modules with moving baseline
+define GPS_MOVING_BASELINE 1
+
 define HAL_PERIPH_ADSB_PORT_DEFAULT 3

 define HAL_AIRSPEED_BUS_DEFAULT 0