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AP_GPS: added GPS_DRV_OPTIONS bit for ellipsoid height

This commit is contained in:
Andrew Tridgell 2022-06-15 06:50:54 +10:00
parent 509f03f946
commit 06a9a1521c
4 changed files with 14 additions and 5 deletions
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2
libraries/AP_GPS/AP_GPS.cpp
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@ -309,7 +309,7 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
// @Param: _DRV_OPTIONS
// @DisplayName: driver options
// @Description: Additional backend specific options
// @Bitmask: 0:Use UART2 for moving baseline on ublox,1:Use base station for GPS yaw on SBF,2:Use baudrate 115200,3:Use dedicated CAN port b/w GPSes for moving baseline
// @Bitmask: 0:Use UART2 for moving baseline on ublox,1:Use base station for GPS yaw on SBF,2:Use baudrate 115200,3:Use dedicated CAN port b/w GPSes for moving baseline,4:Use ellipsoid height instead of AMSL for uBlox driver
// @User: Advanced
AP_GROUPINFO("_DRV_OPTIONS", 22, AP_GPS, _driver_options, 0),
#endif

1
libraries/AP_GPS/AP_GPS.h
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@ -593,6 +593,7 @@ protected:
SBF_UseBaseForYaw = (1U << 1U),
UBX_Use115200 = (1U << 2U),
UAVCAN_MBUseDedicatedBus = (1 << 3U),
HeightEllipsoid = (1U << 4),
};
// check if an option is set

14
libraries/AP_GPS/AP_GPS_UBLOX.cpp
View File

@ -1284,7 +1284,11 @@ AP_GPS_UBLOX::_parse_gps(void)
_last_pos_time = _buffer.posllh.itow;
state.location.lng = _buffer.posllh.longitude;
state.location.lat = _buffer.posllh.latitude;
state.location.alt = _buffer.posllh.altitude_msl / 10;
if (option_set(AP_GPS::HeightEllipsoid)) {
state.location.alt = _buffer.posllh.altitude_ellipsoid / 10;
} else {
state.location.alt = _buffer.posllh.altitude_msl / 10;
}
state.status = next_fix;
_new_position = true;
state.horizontal_accuracy = _buffer.posllh.horizontal_accuracy*1.0e-3f;
@ -1437,8 +1441,12 @@ AP_GPS_UBLOX::_parse_gps(void)
_last_pos_time = _buffer.pvt.itow;
state.location.lng = _buffer.pvt.lon;
state.location.lat = _buffer.pvt.lat;
state.location.alt = _buffer.pvt.h_msl / 10;
switch (_buffer.pvt.fix_type)
if (option_set(AP_GPS::HeightEllipsoid)) {
state.location.alt = _buffer.pvt.h_ellipsoid / 10;
} else {
state.location.alt = _buffer.pvt.h_msl / 10;
}
switch (_buffer.pvt.fix_type)
{
case 0:
state.status = AP_GPS::NO_FIX;

2
libraries/AP_GPS/AP_GPS_UBLOX.h
View File

@ -346,7 +346,7 @@ private:
uint8_t flags2;
uint8_t num_sv;
int32_t lon, lat;
int32_t height, h_msl;
int32_t h_ellipsoid, h_msl;
uint32_t h_acc, v_acc;
int32_t velN, velE, velD, gspeed;
int32_t head_mot;