gps: Add GPS driver for SBG systems devices

src/drivers/gps/CMakeLists.txt

@@ -46,9 +46,11 @@ px4_add_module(
 		devices/src/ashtech.cpp
 		devices/src/ubx.cpp
 		devices/src/rtcm.cpp
+		devices/src/sbg_gps.cpp
 		devices/src/emlid_reach.cpp
 	MODULE_CONFIG
 		module.yaml
 	DEPENDS
+		sbgECom
 		git_gps_devices
 	)

src/drivers/gps/devices

@@ -1 +1 @@
-Subproject commit 4d51e5378ec74e8948981cfb9e47ed84191e2fd2
+Subproject commit 2273f52dfaf229c264c354d4162534cdaed43041

src/drivers/gps/gps.cpp

@@ -65,6 +65,7 @@
 #include "devices/src/emlid_reach.h"
 #include "devices/src/mtk.h"
 #include "devices/src/ubx.h"
+#include "devices/src/sbg_gps.h"
 
 #ifdef __PX4_LINUX
 #include <linux/spi/spidev.h>
@@ -78,7 +79,8 @@ typedef enum {
 	GPS_DRIVER_MODE_UBX,
 	GPS_DRIVER_MODE_MTK,
 	GPS_DRIVER_MODE_ASHTECH,
-	GPS_DRIVER_MODE_EMLIDREACH
+	GPS_DRIVER_MODE_EMLIDREACH,
+	GPS_DRIVER_MODE_SBG
 } gps_driver_mode_t;
 
 /* struct for dynamic allocation of satellite info data */
@@ -711,6 +713,10 @@ GPS::run()
 				_helper = new GPSDriverEmlidReach(&GPS::callback, this, &_report_gps_pos, _p_report_sat_info);
 				break;
 
+			case GPS_DRIVER_MODE_SBG:
+				_helper = new px4::sbg::GPSDriver(&GPS::callback, this, &_report_gps_pos, heading_offset);
+				break;
+
 			default:
 				break;
 			}
@@ -810,6 +816,10 @@ GPS::run()
 					break;
 
 				case GPS_DRIVER_MODE_EMLIDREACH:
+					_mode = GPS_DRIVER_MODE_SBG;
+					break;
+
+				case GPS_DRIVER_MODE_SBG:
 					_mode = GPS_DRIVER_MODE_UBX;
 					px4_usleep(500000); // tried all possible drivers. Wait a bit before next round
 					break;
@@ -872,6 +882,10 @@ GPS::print_status()
 			PX4_INFO("protocol: EMLIDREACH");
 			break;
 
+		case GPS_DRIVER_MODE_SBG:
+			PX4_INFO("protocol: SBG");
+			break;
+
 		default:
 			break;
 		}
@@ -1039,7 +1053,7 @@ $ gps reset warm
 	PRINT_MODULE_USAGE_PARAM_FLAG('s', "Enable publication of satellite info", true);
 
 	PRINT_MODULE_USAGE_PARAM_STRING('i', "uart", "spi|uart", "GPS interface", true);
-	PRINT_MODULE_USAGE_PARAM_STRING('p', nullptr, "ubx|mtk|ash|eml", "GPS Protocol (default=auto select)", true);
+	PRINT_MODULE_USAGE_PARAM_STRING('p', nullptr, "ubx|mtk|ash|eml|sbg", "GPS Protocol (default=auto select)", true);
 
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 	PRINT_MODULE_USAGE_COMMAND_DESCR("reset", "Reset GPS device");
@@ -1175,6 +1189,9 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
 			} else if (!strcmp(myoptarg, "eml")) {
 				mode = GPS_DRIVER_MODE_EMLIDREACH;
 
+			} else if (!strcmp(myoptarg, "sbg")) {
+				mode = GPS_DRIVER_MODE_SBG;
+
 			} else {
 				PX4_ERR("unknown interface: %s", myoptarg);
 				error_flag = true;