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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
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@ -101,8 +101,8 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
#if GPS_MAX_RECEIVERS > 1 #if GPS_MAX_RECEIVERS > 1
// @Param: AUTO_SWITCH // @Param: AUTO_SWITCH
// @DisplayName: Automatic Switchover Setting // @DisplayName: Automatic Switchover Setting
// @Description: Automatic switchover to GPS reporting best lock // @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:Disabled,1:UseBest,2:Blend,3:UseSecond // @Values: 0:Use primary, 1:UseBest, 2:Blend
// @User: Advanced // @User: Advanced
AP_GROUPINFO("AUTO_SWITCH", 3, AP_GPS, _auto_switch, (int8_t)GPSAutoSwitch::USE_BEST), AP_GROUPINFO("AUTO_SWITCH", 3, AP_GPS, _auto_switch, (int8_t)GPSAutoSwitch::USE_BEST),
#endif #endif
@ -336,6 +336,16 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
#endif // GPS_MOVING_BASELINE #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 AP_GROUPEND
}; };
@ -372,7 +382,11 @@ bool AP_GPS::needs_uart(GPS_Type type) const
/// Startup initialisation. /// Startup initialisation.
void AP_GPS::init(const AP_SerialManager& serial_manager) 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 // search for serial ports with gps protocol
uint8_t uart_idx = 0; uint8_t uart_idx = 0;
@ -903,15 +917,19 @@ void AP_GPS::update_primary(void)
return; return;
} }
if ((GPSAutoSwitch)_auto_switch.get() == GPSAutoSwitch::NONE) { // check the primary param is set to possible GPS
// AUTO_SWITCH is 0 so no switching of GPSs, always use first instance int8_t primary_param = _primary.get();
primary_instance = 0; if ((primary_param < 0) || (primary_param>=GPS_MAX_RECEIVERS)) {
return; 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) { if ((GPSAutoSwitch)_auto_switch.get() == GPSAutoSwitch::NONE) {
// always select the second GPS instance // No switching of GPSs, always use the primary instance
primary_instance = 1; primary_instance = primary_param;
return; return;
} }
@ -1782,6 +1800,10 @@ bool AP_GPS::is_healthy(uint8_t instance) const
return false; return false;
} }
if (get_type(_primary.get()) == GPS_TYPE_NONE) {
return false;
}
/* /*
allow two lost frames before declaring the GPS unhealthy, but allow two lost frames before declaring the GPS unhealthy, but
require the average frame rate to be close to 5Hz. We allow for 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, NONE = 0,
USE_BEST = 1, USE_BEST = 1,
BLEND = 2, BLEND = 2,
USE_SECOND = 3, //USE_SECOND = 3, deprecated for new primary param
}; };
// used for flight testing with GPS loss // used for flight testing with GPS loss