GPS1_ parameters¶

10 parameters in the GPS1_ family. ArduCopter 4.7 only — other vehicles share many of these names but not always the same ranges or meanings.

GPS1_CAN_NODEID¶

Detected CAN Node ID for GPS

GPS Node id for GPS. Detected node unless CAN_OVRIDE is set

Read only	Yes
User level	Advanced

GPS1_CAN_OVRIDE¶

DroneCAN GPS NODE ID

GPS Node id for GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis.

User level

Advanced

GPS1_COM_PORT¶

GPS physical COM port

The physical COM port on the connected device, currently only applies to SBF and GSOF GPS

Range	`0` to `10`
Increment	`1`
Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced

Values¶

Value	Meaning
`0`	COM1(RS232) on GSOF
`1`	COM2(TTL) on GSOF

GPS1_DELAY_MS¶

GPS delay in milliseconds

Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.

Units	`ms`
Range	`0` to `250`
Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced

GPS1_GNSS_MODE¶

GNSS system configuration

Bitmask for what GNSS system to use (all unchecked or zero to leave GPS as configured)

User level

Advanced

Bitmask¶

Value	Meaning
`0`	GPS
`1`	SBAS
`2`	Galileo
`3`	Beidou
`4`	IMES
`5`	QZSS
`6`	GLONASS
`7`	NAVIC

GPS1_POS_X¶

Antenna X position offset

X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.

Units	`m`
Range	`-5` to `5`
Increment	`0.01`
User level	Advanced

GPS1_POS_Y¶

Antenna Y position offset

Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.

Units	`m`
Range	`-5` to `5`
Increment	`0.01`
User level	Advanced

GPS1_POS_Z¶

Antenna Z position offset

Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.

Units	`m`
Range	`-5` to `5`
Increment	`0.01`
User level	Advanced

GPS1_RATE_MS¶

GPS update rate in milliseconds

Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.

Units	`ms`
Range	`50` to `200`
User level	Advanced

Values¶

Value	Meaning
`100`	10Hz
`125`	8Hz
`200`	5Hz

GPS1_TYPE¶

GPS type

GPS type

Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced

Values¶

Value	Meaning
`0`	None
`1`	AUTO
`2`	uBlox
`5`	NMEA
`6`	SiRF
`7`	HIL
`8`	SwiftNav
`9`	DroneCAN
`10`	Septentrio(SBF)
`11`	Trimble(GSOF)
`13`	ERB
`14`	MAVLink
`15`	NOVA
`16`	HemisphereNMEA
`17`	uBlox-MovingBaseline-Base
`18`	uBlox-MovingBaseline-Rover
`19`	MSP
`20`	AllyStar
`21`	ExternalAHRS
`22`	DroneCAN-MovingBaseline-Base
`23`	DroneCAN-MovingBaseline-Rover
`24`	UnicoreNMEA
`25`	UnicoreMovingBaselineNMEA
`26`	Septentrio-DualAntenna(SBF)