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AP_GPS: fixed UAVCAN GPS status when disconnected

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this fixes the status reported for a UAVCAN GPS when the cable is
unplugged. It should be "NO GPS", but was instead reporting "NO
FIX". The user had no way to distinguish between not finding a CAN GPS
at all and it not getting satellites

thanks to CUAV for reporting
This commit is contained in:
Andrew Tridgell 2019-10-09 15:30:39 +11:00 committed by WickedShell
parent 000aa4f515
commit 00260db65a
3 changed files with 16 additions and 2 deletions
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4
libraries/AP_GPS/AP_GPS.cpp
View File

@ -635,7 +635,7 @@ void AP_GPS::update_instance(uint8_t instance)
return; return;
} }
if (drivers[instance] == nullptr || state[instance].status == NO_GPS) { if (drivers[instance] == nullptr) {
// we don't yet know the GPS type of this one, or it has timed // we don't yet know the GPS type of this one, or it has timed
// out and needs to be re-initialised // out and needs to be re-initialised
detect_instance(instance); detect_instance(instance);
@ -721,7 +721,7 @@ void AP_GPS::update(void)
// calculate number of instances // calculate number of instances
for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) { for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) {
if (state[i].status != NO_GPS) { if (drivers[i] != nullptr) {
num_instances = i+1; num_instances = i+1;
} }
} }

13
libraries/AP_GPS/AP_GPS_UAVCAN.cpp
View File

@ -229,6 +229,15 @@ void AP_GPS_UAVCAN::handle_fix_msg(const FixCb &cb)
interim_state.last_gps_time_ms = AP_HAL::millis(); interim_state.last_gps_time_ms = AP_HAL::millis();
_new_data = true; _new_data = true;
if (!seen_message) {
if (interim_state.status == AP_GPS::GPS_Status::NO_GPS) {
// the first time we see a fix message we change from
// NO_GPS to NO_FIX, indicating to user that a UAVCAN GPS
// has been seen
interim_state.status = AP_GPS::GPS_Status::NO_FIX;
}
seen_message = true;
}
} }
void AP_GPS_UAVCAN::handle_aux_msg(const AuxCb &cb) void AP_GPS_UAVCAN::handle_aux_msg(const AuxCb &cb)
@ -275,6 +284,10 @@ bool AP_GPS_UAVCAN::read(void)
return true; return true;
} }
if (!seen_message) {
// start with NO_GPS until we get first packet
state.status = AP_GPS::GPS_Status::NO_GPS;
}
return false; return false;
} }

1
libraries/AP_GPS/AP_GPS_UAVCAN.h
View File

@ -57,6 +57,7 @@ private:
HAL_Semaphore sem; HAL_Semaphore sem;
uint8_t _detected_module; uint8_t _detected_module;
bool seen_message;
// Module Detection Registry // Module Detection Registry
static struct DetectedModules { static struct DetectedModules {