gps: Support for Emlid Reach

Support Emlid Reach in ERB format,
including autodetect

Reported-by: Bastien Auneau <bastien.auneau@while-true.fr>

src/drivers/gps/CMakeLists.txt

@@ -44,6 +44,7 @@ px4_add_module(
 		devices/src/ashtech.cpp
 		devices/src/ubx.cpp
 		devices/src/rtcm.cpp
+		devices/src/emlid_reach.cpp
 	MODULE_CONFIG
 		module.yaml
 	DEPENDS

devices @ a6687961

-Subproject commit 2fecb4912dd8c97a9eee42c5dbecfb58c4aeb9ee
+Subproject commit a6687961ec328a1694916618f9160eaed555d4be

src/drivers/gps/gps.cpp

@@ -86,6 +86,7 @@
 #include "devices/src/ubx.h"
 #include "devices/src/mtk.h"
 #include "devices/src/ashtech.h"
+#include "devices/src/emlid_reach.h"
 
 #ifdef __PX4_LINUX
 #include <linux/spi/spidev.h>
@@ -98,7 +99,8 @@ typedef enum {
 	GPS_DRIVER_MODE_NONE = 0,
 	GPS_DRIVER_MODE_UBX,
 	GPS_DRIVER_MODE_MTK,
-	GPS_DRIVER_MODE_ASHTECH
+	GPS_DRIVER_MODE_ASHTECH,
+	GPS_DRIVER_MODE_EMLIDREACH
 } gps_driver_mode_t;
 
 /* struct for dynamic allocation of satellite info data */
@@ -720,6 +722,10 @@ GPS::run()
 				_helper = new GPSDriverAshtech(&GPS::callback, this, &_report_gps_pos, _p_report_sat_info, heading_offset);
 				break;
 
+			case GPS_DRIVER_MODE_EMLIDREACH:
+				_helper = new GPSDriverEmlidReach(&GPS::callback, this, &_report_gps_pos, _p_report_sat_info);
+				break;
+
 			default:
 				break;
 			}
@@ -782,6 +788,10 @@ GPS::run()
 //							mode_str = "ASHTECH";
 //							break;
 //
+//						case GPS_DRIVER_MODE_EMLIDREACH:
+//							mode_str = "EMLID REACH";
+//							break;
+//
 //						default:
 //							break;
 //						}
@@ -809,6 +819,10 @@ GPS::run()
 					break;
 
 				case GPS_DRIVER_MODE_ASHTECH:
+					_mode = GPS_DRIVER_MODE_EMLIDREACH;
+					break;
+
+				case GPS_DRIVER_MODE_EMLIDREACH:
 					_mode = GPS_DRIVER_MODE_UBX;
 					px4_usleep(500000); // tried all possible drivers. Wait a bit before next round
 					break;
@@ -877,6 +891,10 @@ GPS::print_status()
 			PX4_INFO("protocol: ASHTECH");
 			break;
 
+		case GPS_DRIVER_MODE_EMLIDREACH:
+			PX4_INFO("protocol: EMLIDREACH");
+			break;
+
 		default:
 			break;
 		}
@@ -976,7 +994,7 @@ gps start -d /dev/ttyS3 -e /dev/ttyS4
 	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", "GPS Protocol (default=auto select)", true);
+	PRINT_MODULE_USAGE_PARAM_STRING('p', nullptr, "ubx|mtk|ash|eml", "GPS Protocol (default=auto select)", true);
 
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 
@@ -1107,6 +1125,9 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
 			} else if (!strcmp(myoptarg, "ash")) {
 				mode = GPS_DRIVER_MODE_ASHTECH;
 
+			} else if (!strcmp(myoptarg, "eml")) {
+				mode = GPS_DRIVER_MODE_EMLIDREACH;
+
 			} else {
 				PX4_ERR("unknown interface: %s", myoptarg);
 				error_flag = true;