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AP_GPS: Remove external event from GPS data stream 

If the event pin floats, this can lead to UART congestion, causing the
EKF to reject the GPS data, and the vehicle will drift around the sky in
a most disturbing manner
This commit is contained in:
Michael du Breuil 2019-04-05 14:14:57 -07:00 committed by WickedShell
parent cb88bc7f53
commit 32c583bd20
2 changed files with 2 additions and 38 deletions
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33
libraries/AP_GPS/AP_GPS_SBF.cpp
View File

@ -22,7 +22,6 @@
#include "AP_GPS.h"
#include "AP_GPS_SBF.h"
#include <AP_Logger/AP_Logger.h>
#include <GCS_MAVLink/GCS.h>
extern const AP_HAL::HAL& hal;
@ -234,35 +233,6 @@ AP_GPS_SBF::parse(uint8_t temp)
return false;
}
void
AP_GPS_SBF::log_ExtEventPVTGeodetic(const msg4007 &temp)
{
if (!should_log()) {
return;
}
uint64_t now = AP_HAL::micros64();
struct log_GPS_SBF_EVENT header = {
LOG_PACKET_HEADER_INIT(LOG_GPS_SBF_EVENT_MSG),
time_us:now,
TOW:temp.TOW,
WNc:temp.WNc,
Mode:temp.Mode,
Error:temp.Error,
Latitude:temp.Latitude*RAD_TO_DEG_DOUBLE,
Longitude:temp.Longitude*RAD_TO_DEG_DOUBLE,
Height:temp.Height,
Undulation:temp.Undulation,
Vn:temp.Vn,
Ve:temp.Ve,
Vu:temp.Vu,
COG:temp.COG
};
AP::logger().WriteBlock(&header, sizeof(header));
}
bool
AP_GPS_SBF::process_message(void)
{
@ -271,9 +241,6 @@ AP_GPS_SBF::process_message(void)
Debug("BlockID %d", blockid);
switch (blockid) {
case ExtEventPVTGeodetic:
log_ExtEventPVTGeodetic(sbf_msg.data.msg4007u);
break;
case PVTGeodetic:
{
const msg4007 &temp = sbf_msg.data.msg4007u;

7
libraries/AP_GPS/AP_GPS_SBF.h
View File

@ -62,7 +62,7 @@ private:
uint8_t _init_blob_index = 0;
uint32_t _init_blob_time = 0;
const char* _initialisation_blob[5] = {
"sso, Stream1, COM1, PVTGeodetic+DOP+ExtEventPVTGeodetic+ReceiverStatus+VelCovGeodetic, msec100\n",
"sso, Stream1, COM1, PVTGeodetic+DOP+ReceiverStatus+VelCovGeodetic, msec100\n",
"srd, Moderate, UAV\n",
"sem, PVT, 5\n",
"spm, Rover, all\n",
@ -83,7 +83,6 @@ private:
DOP = 4001,
PVTGeodetic = 4007,
ReceiverStatus = 4014,
ExtEventPVTGeodetic = 4038,
VelCovGeodetic = 5908
};
@ -196,10 +195,8 @@ private:
uint16_t read;
} sbf_msg;
void log_ExtEventPVTGeodetic(const msg4007 &temp);
enum {
SOFTWARE = (1 << 3), // set upon detection of a software warning or error. This bit is reset by the command “lif, error”
SOFTWARE = (1 << 3), // set upon detection of a software warning or error. This bit is reset by the command lif, error
WATCHDOG = (1 << 4), // set when the watch-dog expired at least once since the last power-on.
CONGESTION = (1 << 6), // set when an output data congestion has been detected on at least one of the communication ports of the receiver during the last second.
MISSEDEVENT = (1 << 8), // set when an external event congestion has been detected during the last second. It indicates that the receiver is receiving too many events on its EVENTx pins.