Septentrio v1.15 backport cleanup

platforms/nuttx/src/px4/common/SerialImpl.cpp

@@ -92,12 +92,36 @@ bool SerialImpl::configure()
 
 	case 460800: speed = B460800; break;
 
+#ifndef B500000
+#define B500000 500000
+#endif
+
+	case 500000: speed = B500000; break;
+
+#ifndef B576000
+#define B576000 576000
+#endif
+
+	case 576000: speed = B576000; break;
+
 #ifndef B921600
 #define B921600 921600
 #endif
 
 	case 921600: speed = B921600; break;
 
+#ifndef B1000000
+#define B1000000 1000000
+#endif
+
+	case 1000000: speed = B1000000; break;
+
+#ifndef B1500000
+#define B1500000 1500000
+#endif
+
+	case 1500000: speed = B1500000; break;
+
 	default:
 		speed = _baudrate;
 		PX4_WARN("Using non-standard baudrate: %lu", _baudrate);

platforms/posix/src/px4/common/SerialImpl.cpp

@@ -90,12 +90,36 @@ bool SerialImpl::configure()
 
 	case 460800: speed = B460800; break;
 
+#ifndef B500000
+#define B500000 500000
+#endif
+
+	case 500000: speed = B500000; break;
+
+#ifndef B576000
+#define B576000 576000
+#endif
+
+	case 576000: speed = B576000; break;
+
 #ifndef B921600
 #define B921600 921600
 #endif
 
 	case 921600: speed = B921600; break;
 
+#ifndef B1000000
+#define B1000000 1000000
+#endif
+
+	case 1000000: speed = B1000000; break;
+
+#ifndef B1500000
+#define B1500000 1500000
+#endif
+
+	case 1500000: speed = B1500000; break;
+
 	default:
 		speed = _baudrate;
 		PX4_WARN("Using non-standard baudrate: %u", _baudrate);

src/drivers/gps/gps.cpp

@@ -717,41 +717,30 @@ GPS::run()
 		int32_t gps_ubx_mode = 0;
 		param_get(handle, &gps_ubx_mode);
 
-		switch (gps_ubx_mode) {
-		case 1:  // heading
+		if (gps_ubx_mode == 1) { // heading
 			if (_instance == Instance::Main) {
 				ubx_mode = GPSDriverUBX::UBXMode::RoverWithMovingBase;
 
 			} else {
 				ubx_mode = GPSDriverUBX::UBXMode::MovingBase;
 			}
 
-			break;
-
-		case 2:
+		} else if (gps_ubx_mode == 2) {
 			ubx_mode = GPSDriverUBX::UBXMode::MovingBase;
-			break;
 
-		case 3:
+		} else if (gps_ubx_mode == 3) {
 			if (_instance == Instance::Main) {
 				ubx_mode = GPSDriverUBX::UBXMode::RoverWithMovingBaseUART1;
 
 			} else {
 				ubx_mode = GPSDriverUBX::UBXMode::MovingBaseUART1;
 			}
 
-			break;
-
-		case 4:
+		} else if (gps_ubx_mode == 4) {
 			ubx_mode = GPSDriverUBX::UBXMode::MovingBaseUART1;
-			break;
 
-		case 5:  // rover with static base on Uart2
+		} else if (gps_ubx_mode == 5) { // rover with static base on Uart2
 			ubx_mode = GPSDriverUBX::UBXMode::RoverWithStaticBaseUart2;
-			break;
-
-		default:
-			break;
 
 		}
 	}
@@ -1546,4 +1535,4 @@ int
 gps_main(int argc, char *argv[])
 {
 	return GPS::main(argc, argv);
-}
+}

src/drivers/gps/params.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2016-2024 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2016 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -152,9 +152,8 @@ PARAM_DEFINE_INT32(GPS_UBX_CFG_INTF, 0);
  *
  * The offset angle increases clockwise.
  *
- * Set this to 90 if the rover (or Unicore primary, or Septentrio Mosaic Aux)
- * antenna is placed on the right side of the vehicle and the moving base
- * antenna is on the left side.
+ * Set this to 90 if the rover (or Unicore primary) antenna is placed on the
+ * right side of the vehicle and the moving base antenna is on the left side.
  *
  * (Note: the Unicore primary antenna is the one connected on the right as seen
  *        from the top).
@@ -229,16 +228,14 @@ PARAM_DEFINE_INT32(GPS_2_PROTOCOL, 1);
  * 2 : Use Galileo
  * 3 : Use BeiDou
  * 4 : Use GLONASS
- * 5 : Use NAVIC
  *
  * @min 0
- * @max 63
+ * @max 31
  * @bit 0 GPS (with QZSS)
  * @bit 1 SBAS
  * @bit 2 Galileo
  * @bit 3 BeiDou
  * @bit 4 GLONASS
- * @bit 5 NAVIC
  *
  * @reboot_required true
  * @group GPS
@@ -261,16 +258,14 @@ PARAM_DEFINE_INT32(GPS_1_GNSS, 0);
  * 2 : Use Galileo
  * 3 : Use BeiDou
  * 4 : Use GLONASS
- * 5 : Use NAVIC
  *
  * @min 0
- * @max 63
+ * @max 31
  * @bit 0 GPS (with QZSS)
  * @bit 1 SBAS
  * @bit 2 Galileo
  * @bit 3 BeiDou
  * @bit 4 GLONASS
- * @bit 5 NAVIC
  *
  * @reboot_required true
  * @group GPS