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AP_GPS: add primary param

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Iampete1 2020-10-29 22:54:05 +00:00 committed by Andrew Tridgell
parent 0c2037438b
commit 347723dbaf
2 changed files with 33 additions and 11 deletions
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42
libraries/AP_GPS/AP_GPS.cpp
View File

@ -101,8 +101,8 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
#if GPS_MAX_RECEIVERS > 1
// @Param: AUTO_SWITCH
// @DisplayName: Automatic Switchover Setting
// @Description: Automatic switchover to GPS reporting best lock
// @Values: 0:Disabled,1:UseBest,2:Blend,3:UseSecond
// @Description: Automatic switchover to GPS reporting best lock, 1:UseBest selects the GPS with highest status, if both are equal the GPS with highest satellite count is used
// @Values: 0:Use primary, 1:UseBest, 2:Blend
// @User: Advanced
AP_GROUPINFO("AUTO_SWITCH", 3, AP_GPS, _auto_switch, (int8_t)GPSAutoSwitch::USE_BEST),
#endif
@ -336,6 +336,16 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
#endif // GPS_MOVING_BASELINE
#if GPS_MAX_RECEIVERS > 1
// @Param: PRIMARY
// @DisplayName: Primary GPS
// @Description: This GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with GPS_AUTO_SWITCH = 4.
// @Increment: 1
// @Values: 0:FirstGPS, 1:SecondGPS
// @User: Advanced
AP_GROUPINFO("PRIMARY", 27, AP_GPS, _primary, 0),
#endif
AP_GROUPEND
};
@ -372,7 +382,11 @@ bool AP_GPS::needs_uart(GPS_Type type) const
/// Startup initialisation.
void AP_GPS::init(const AP_SerialManager& serial_manager)
{
primary_instance = 0;
// Set new primary param based on old auto_switch use second option
if ((_auto_switch.get() == 3) && !_primary.configured()) {
_primary.set_and_save(1);
_auto_switch.set_and_save(0);
}
// search for serial ports with gps protocol
uint8_t uart_idx = 0;
@ -903,15 +917,19 @@ void AP_GPS::update_primary(void)
return;
}
if ((GPSAutoSwitch)_auto_switch.get() == GPSAutoSwitch::NONE) {
// AUTO_SWITCH is 0 so no switching of GPSs, always use first instance
primary_instance = 0;
return;
// check the primary param is set to possible GPS
int8_t primary_param = _primary.get();
if ((primary_param < 0) || (primary_param>=GPS_MAX_RECEIVERS)) {
primary_param = 0;
}
// if primary is not enabled try first instance
if (get_type(primary_param) == GPS_TYPE_NONE) {
primary_param = 0;
}
if ((GPSAutoSwitch)_auto_switch.get() == GPSAutoSwitch::USE_SECOND) {
// always select the second GPS instance
primary_instance = 1;
if ((GPSAutoSwitch)_auto_switch.get() == GPSAutoSwitch::NONE) {
// No switching of GPSs, always use the primary instance
primary_instance = primary_param;
return;
}
@ -1782,6 +1800,10 @@ bool AP_GPS::is_healthy(uint8_t instance) const
return false;
}
if (get_type(_primary.get()) == GPS_TYPE_NONE) {
return false;
}
/*
allow two lost frames before declaring the GPS unhealthy, but
require the average frame rate to be close to 5Hz. We allow for

2
libraries/AP_GPS/AP_GPS.h
View File

@ -659,7 +659,7 @@ private:
NONE = 0,
USE_BEST = 1,
BLEND = 2,
USE_SECOND = 3,
//USE_SECOND = 3, deprecated for new primary param
};
// used for flight testing with GPS loss