From 9bd9513f1c4cad527b735bde015fc0058f8e6eb7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Matej=20Fran=C4=8De=C5=A1kin?= <Matej.Franceskin@gmail.com>
Date: Mon, 14 Jan 2019 16:49:20 +0100
Subject: [PATCH] Add support for Septentrio base station

---
 qgroundcontrol.pro     | 5 ++++-
 src/GPS/GPSManager.cc  | 3 +++
 src/GPS/GPSProvider.cc | 4 ++++
 src/GPS/GPSProvider.h  | 3 ++-
 src/GPS/definitions.h  | 2 ++
 5 files changed, 15 insertions(+), 2 deletions(-)

diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index 05b6447f6..19b4a68dd 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -405,7 +405,8 @@ HEADERS += \
     src/api/QGCOptions.h \
     src/api/QGCSettings.h \
     src/api/QmlComponentInfo.h \
-    src/comm/MavlinkMessagesTimer.h
+    src/comm/MavlinkMessagesTimer.h \
+    src/GPS/Drivers/src/base_station.h
 
 SOURCES += \
     src/api/QGCCorePlugin.cc \
@@ -664,6 +665,7 @@ HEADERS += \
     src/GPS/Drivers/src/rtcm.h \
     src/GPS/Drivers/src/ashtech.h \
     src/GPS/Drivers/src/ubx.h \
+    src/GPS/Drivers/src/sbf.h \
     src/GPS/GPSManager.h \
     src/GPS/GPSPositionMessage.h \
     src/GPS/GPSProvider.h \
@@ -851,6 +853,7 @@ SOURCES += \
     src/GPS/Drivers/src/rtcm.cpp \
     src/GPS/Drivers/src/ashtech.cpp \
     src/GPS/Drivers/src/ubx.cpp \
+    src/GPS/Drivers/src/sbf.cpp \
     src/GPS/GPSManager.cc \
     src/GPS/GPSProvider.cc \
     src/GPS/RTCM/RTCMMavlink.cc \
diff --git a/src/GPS/GPSManager.cc b/src/GPS/GPSManager.cc
index 6c71e0c49..4eea19b8e 100644
--- a/src/GPS/GPSManager.cc
+++ b/src/GPS/GPSManager.cc
@@ -34,6 +34,9 @@ void GPSManager::connectGPS(const QString& device, const QString& gps_type)
     if (gps_type.contains("trimble",  Qt::CaseInsensitive)) {
         type = GPSProvider::GPSType::trimble;
         qCDebug(RTKGPSLog) << "Connecting Trimble device";
+    } else if (gps_type.contains("septentrio",  Qt::CaseInsensitive)) {
+        type = GPSProvider::GPSType::septentrio;
+        qCDebug(RTKGPSLog) << "Connecting Septentrio device";
     } else {
         type = GPSProvider::GPSType::u_blox;
         qCDebug(RTKGPSLog) << "Connecting U-blox device";
diff --git a/src/GPS/GPSProvider.cc b/src/GPS/GPSProvider.cc
index 7f8433efd..285f1b269 100644
--- a/src/GPS/GPSProvider.cc
+++ b/src/GPS/GPSProvider.cc
@@ -18,6 +18,7 @@
 #include <QDebug>
 
 #include "Drivers/src/ubx.h"
+#include "Drivers/src/sbf.h"
 #include "Drivers/src/ashtech.h"
 #include "Drivers/src/base_station.h"
 #include "definitions.h"
@@ -81,6 +82,9 @@ void GPSProvider::run()
         if (_type == GPSType::trimble) {
             gpsDriver = new GPSDriverAshtech(&callbackEntry, this, &_reportGpsPos, _pReportSatInfo);
             baudrate = 115200;
+        } else if (_type == GPSType::septentrio) {
+            gpsDriver = new GPSDriverSBF(&callbackEntry, this, &_reportGpsPos, _pReportSatInfo, 5);
+            baudrate = 0; // auto-configure
         } else {
             gpsDriver = new GPSDriverUBX(GPSDriverUBX::Interface::UART, &callbackEntry, this, &_reportGpsPos, _pReportSatInfo);
             baudrate = 0; // auto-configure
diff --git a/src/GPS/GPSProvider.h b/src/GPS/GPSProvider.h
index eabd08847..56e8d30b8 100644
--- a/src/GPS/GPSProvider.h
+++ b/src/GPS/GPSProvider.h
@@ -32,7 +32,8 @@ public:
 
     enum class GPSType {
         u_blox,
-        trimble
+        trimble,
+        septentrio
     };
 
     GPSProvider(const QString& device,
diff --git a/src/GPS/definitions.h b/src/GPS/definitions.h
index 63fd2c2b1..afc36a475 100644
--- a/src/GPS/definitions.h
+++ b/src/GPS/definitions.h
@@ -50,6 +50,8 @@
 #include "vehicle_gps_position.h"
 #include "satellite_info.h"
 
+#define M_DEG_TO_RAD 		M_PI / 180.0
+#define M_RAD_TO_DEG 		180.0 / M_PI
 #define M_DEG_TO_RAD_F 		0.01745329251994f
 #define M_RAD_TO_DEG_F 		57.2957795130823f
 
-- 
2.22.0