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AP_GPS: create real AP_GPS_Blended backend

This commit is contained in:
Peter Barker 2024-03-20 22:01:56 +11:00 committed by Andrew Tridgell
parent c4fe57d197
commit 39b4b80a5f
6 changed files with 240 additions and 163 deletions
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6
libraries/AP_Arming/AP_Arming.cpp
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@ -649,12 +649,6 @@ bool AP_Arming::gps_checks(bool report)
(double)distance_m); (double)distance_m);
return false; return false;
} }
#if AP_GPS_BLENDED_ENABLED
if (!gps.blend_health_check()) {
check_failed(ARMING_CHECK_GPS, report, "GPS blending unhealthy");
return false;
}
#endif
// check AHRS and GPS are within 10m of each other // check AHRS and GPS are within 10m of each other
if (gps.num_sensors() > 0) { if (gps.num_sensors() > 0) {

51
libraries/AP_GPS/AP_GPS.cpp
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@ -29,6 +29,7 @@
#include <AP_SerialManager/AP_SerialManager.h> #include <AP_SerialManager/AP_SerialManager.h>
#include "AP_GPS_NOVA.h" #include "AP_GPS_NOVA.h"
#include "AP_GPS_Blended.h"
#include "AP_GPS_ERB.h" #include "AP_GPS_ERB.h"
#include "AP_GPS_GSOF.h" #include "AP_GPS_GSOF.h"
#include "AP_GPS_NMEA.h" #include "AP_GPS_NMEA.h"
@ -59,6 +60,12 @@
#include "RTCM3_Parser.h" #include "RTCM3_Parser.h"
#endif #endif
#if !AP_GPS_BLENDED_ENABLED
#if defined(GPS_BLENDED_INSTANCE)
#error GPS_BLENDED_INSTANCE should not be defined when AP_GPS_BLENDED_ENABLED is false
#endif
#endif
#define GPS_RTK_INJECT_TO_ALL 127 #define GPS_RTK_INJECT_TO_ALL 127
#ifndef GPS_MAX_RATE_MS #ifndef GPS_MAX_RATE_MS
#define GPS_MAX_RATE_MS 200 // maximum value of rate_ms (i.e. slowest update rate) is 5hz or 200ms #define GPS_MAX_RATE_MS 200 // maximum value of rate_ms (i.e. slowest update rate) is 5hz or 200ms
@ -66,8 +73,6 @@
#define GPS_BAUD_TIME_MS 1200 #define GPS_BAUD_TIME_MS 1200
#define GPS_TIMEOUT_MS 4000u #define GPS_TIMEOUT_MS 4000u
#define BLEND_COUNTER_FAILURE_INCREMENT 10
extern const AP_HAL::HAL &hal; extern const AP_HAL::HAL &hal;
// baudrates to try to detect GPSes with // baudrates to try to detect GPSes with
@ -347,6 +352,11 @@ void AP_GPS::init()
rate_ms.set(GPS_MAX_RATE_MS); rate_ms.set(GPS_MAX_RATE_MS);
} }
} }
// create the blended instance if appropriate:
#if AP_GPS_BLENDED_ENABLED
drivers[GPS_BLENDED_INSTANCE] = NEW_NOTHROW AP_GPS_Blended(*this, params[GPS_BLENDED_INSTANCE], state[GPS_BLENDED_INSTANCE], timing[GPS_BLENDED_INSTANCE]);
#endif
} }
void AP_GPS::convert_parameters() void AP_GPS::convert_parameters()
@ -1087,25 +1097,15 @@ void AP_GPS::update_primary(void)
*/ */
const bool using_moving_base = is_rtk_base(0) || is_rtk_base(1); const bool using_moving_base = is_rtk_base(0) || is_rtk_base(1);
if ((GPSAutoSwitch)_auto_switch.get() == GPSAutoSwitch::BLEND && !using_moving_base) { if ((GPSAutoSwitch)_auto_switch.get() == GPSAutoSwitch::BLEND && !using_moving_base) {
_output_is_blended = calc_blend_weights(); _output_is_blended = ((AP_GPS_Blended*)drivers[GPS_BLENDED_INSTANCE])->calc_weights();
// adjust blend health counter
if (!_output_is_blended) {
_blend_health_counter = MIN(_blend_health_counter+BLEND_COUNTER_FAILURE_INCREMENT, 100);
} else if (_blend_health_counter > 0) {
_blend_health_counter--;
}
// stop blending if unhealthy
if (_blend_health_counter >= 50) {
_output_is_blended = false;
}
} else { } else {
_output_is_blended = false; _output_is_blended = false;
_blend_health_counter = 0; ((AP_GPS_Blended*)drivers[GPS_BLENDED_INSTANCE])->zero_health_counter();
} }
if (_output_is_blended) { if (_output_is_blended) {
// Use the weighting to calculate blended GPS states // Use the weighting to calculate blended GPS states
calc_blended_state(); ((AP_GPS_Blended*)drivers[GPS_BLENDED_INSTANCE])->calc_state();
// set primary to the virtual instance // set primary to the virtual instance
primary_instance = GPS_BLENDED_INSTANCE; primary_instance = GPS_BLENDED_INSTANCE;
return; return;
@ -1698,10 +1698,7 @@ bool AP_GPS::get_lag(uint8_t instance, float &lag_sec) const
#if AP_GPS_BLENDED_ENABLED #if AP_GPS_BLENDED_ENABLED
// return lag of blended GPS // return lag of blended GPS
if (instance == GPS_BLENDED_INSTANCE) { if (instance == GPS_BLENDED_INSTANCE) {
lag_sec = _blended_lag_sec; return drivers[instance]->get_lag(lag_sec);
// auto switching uses all GPS receivers, so all must be configured
uint8_t inst; // we don't actually care what the number is, but must pass it
return first_unconfigured_gps(inst);
} }
#endif #endif
@ -1735,7 +1732,7 @@ const Vector3f &AP_GPS::get_antenna_offset(uint8_t instance) const
#if AP_GPS_BLENDED_ENABLED #if AP_GPS_BLENDED_ENABLED
if (instance == GPS_BLENDED_INSTANCE) { if (instance == GPS_BLENDED_INSTANCE) {
// return an offset for the blended GPS solution // return an offset for the blended GPS solution
return _blended_antenna_offset; return ((AP_GPS_Blended*)drivers[instance])->get_antenna_offset();
} }
#endif #endif
@ -1791,12 +1788,6 @@ bool AP_GPS::is_healthy(uint8_t instance) const
} }
#endif // HAL_BUILD_AP_PERIPH #endif // HAL_BUILD_AP_PERIPH
#if AP_GPS_BLENDED_ENABLED
if (instance == GPS_BLENDED_INSTANCE) {
return blend_health_check();
}
#endif
return drivers[instance] != nullptr && return drivers[instance] != nullptr &&
drivers[instance]->is_healthy(); drivers[instance]->is_healthy();
} }
@ -1829,6 +1820,14 @@ bool AP_GPS::pre_arm_checks(char failure_msg[], uint16_t failure_msg_len)
} }
} }
} }
#if AP_GPS_BLENDED_ENABLED
if (!drivers[GPS_BLENDED_INSTANCE]->is_healthy()) {
hal.util->snprintf(failure_msg, failure_msg_len, "GPS blending unhealthy");
return false;
}
#endif
return true; return true;
} }

19
libraries/AP_GPS/AP_GPS.h
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@ -52,6 +52,7 @@ class RTCM3_Parser;
/// GPS driver main class /// GPS driver main class
class AP_GPS class AP_GPS
{ {
friend class AP_GPS_Blended;
friend class AP_GPS_ERB; friend class AP_GPS_ERB;
friend class AP_GPS_GSOF; friend class AP_GPS_GSOF;
friend class AP_GPS_MAV; friend class AP_GPS_MAV;
@ -512,9 +513,6 @@ public:
// pre-arm check that all GPSs are close to each other. farthest distance between GPSs (in meters) is returned // pre-arm check that all GPSs are close to each other. farthest distance between GPSs (in meters) is returned
bool all_consistent(float &distance) const; bool all_consistent(float &distance) const;
// pre-arm check of GPS blending. False if blending is unhealthy, True if healthy or blending is not being used
bool blend_health_check() const;
// handle sending of initialisation strings to the GPS - only used by backends // handle sending of initialisation strings to the GPS - only used by backends
void send_blob_start(uint8_t instance); void send_blob_start(uint8_t instance);
void send_blob_start(uint8_t instance, const char *_blob, uint16_t size); void send_blob_start(uint8_t instance, const char *_blob, uint16_t size);
@ -607,7 +605,7 @@ public:
protected: protected:
// configuration parameters // configuration parameters
Params params[GPS_MAX_RECEIVERS]; Params params[GPS_MAX_INSTANCES];
AP_Int8 _navfilter; AP_Int8 _navfilter;
AP_Int8 _auto_switch; AP_Int8 _auto_switch;
AP_Int16 _sbp_logmask; AP_Int16 _sbp_logmask;
@ -669,7 +667,7 @@ private:
// Note allowance for an additional instance to contain blended data // Note allowance for an additional instance to contain blended data
GPS_timing timing[GPS_MAX_INSTANCES]; GPS_timing timing[GPS_MAX_INSTANCES];
GPS_State state[GPS_MAX_INSTANCES]; GPS_State state[GPS_MAX_INSTANCES];
AP_GPS_Backend *drivers[GPS_MAX_RECEIVERS]; AP_GPS_Backend *drivers[GPS_MAX_INSTANCES];
AP_HAL::UARTDriver *_port[GPS_MAX_RECEIVERS]; AP_HAL::UARTDriver *_port[GPS_MAX_RECEIVERS];
/// primary GPS instance /// primary GPS instance
@ -757,18 +755,7 @@ private:
void inject_data(uint8_t instance, const uint8_t *data, uint16_t len); void inject_data(uint8_t instance, const uint8_t *data, uint16_t len);
#if AP_GPS_BLENDED_ENABLED #if AP_GPS_BLENDED_ENABLED
// GPS blending and switching
Vector3f _blended_antenna_offset; // blended antenna offset
float _blended_lag_sec; // blended receiver lag in seconds
float _blend_weights[GPS_MAX_RECEIVERS]; // blend weight for each GPS. The blend weights must sum to 1.0 across all instances.
bool _output_is_blended; // true when a blended GPS solution being output bool _output_is_blended; // true when a blended GPS solution being output
uint8_t _blend_health_counter; // 0 = perfectly health, 100 = very unhealthy
// calculate the blend weight. Returns true if blend could be calculated, false if not
bool calc_blend_weights(void);
// calculate the blended state
void calc_blended_state(void);
#endif #endif
bool should_log() const; bool should_log() const;

239
libraries/AP_GPS/AP_GPS_Blended.cpp
View File

@ -1,22 +1,20 @@
#include "AP_GPS.h" #include "AP_GPS_config.h"
#if AP_GPS_BLENDED_ENABLED #if AP_GPS_BLENDED_ENABLED
#include "AP_GPS_Blended.h"
// defines used to specify the mask position for use of different accuracy metrics in the blending algorithm // defines used to specify the mask position for use of different accuracy metrics in the blending algorithm
#define BLEND_MASK_USE_HPOS_ACC 1 #define BLEND_MASK_USE_HPOS_ACC 1
#define BLEND_MASK_USE_VPOS_ACC 2 #define BLEND_MASK_USE_VPOS_ACC 2
#define BLEND_MASK_USE_SPD_ACC 4 #define BLEND_MASK_USE_SPD_ACC 4
// pre-arm check of GPS blending. True means healthy or that blending is not being used #define BLEND_COUNTER_FAILURE_INCREMENT 10
bool AP_GPS::blend_health_check() const
{
return (_blend_health_counter < 50);
}
/* /*
calculate the weightings used to blend GPSs location and velocity data calculate the weightings used to blend GPSs location and velocity data
*/ */
bool AP_GPS::calc_blend_weights(void) bool AP_GPS_Blended::_calc_weights(void)
{ {
// zero the blend weights // zero the blend weights
memset(&_blend_weights, 0, sizeof(_blend_weights)); memset(&_blend_weights, 0, sizeof(_blend_weights));
@ -27,7 +25,7 @@ bool AP_GPS::calc_blend_weights(void)
// The time delta calculations below also rely upon every instance being currently detected and being parsed // The time delta calculations below also rely upon every instance being currently detected and being parsed
// exit immediately if not enough receivers to do blending // exit immediately if not enough receivers to do blending
if (state[0].status <= NO_FIX || state[1].status <= NO_FIX) { if (gps.state[0].status <= AP_GPS::NO_FIX || gps.state[1].status <= AP_GPS::NO_FIX) {
return false; return false;
} }
@ -37,22 +35,22 @@ bool AP_GPS::calc_blend_weights(void)
uint32_t max_rate_ms = 0; // largest update interval of a GPS receiver uint32_t max_rate_ms = 0; // largest update interval of a GPS receiver
for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) { for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) {
// Find largest and smallest times // Find largest and smallest times
if (state[i].last_gps_time_ms > max_ms) { if (gps.state[i].last_gps_time_ms > max_ms) {
max_ms = state[i].last_gps_time_ms; max_ms = gps.state[i].last_gps_time_ms;
} }
if ((state[i].last_gps_time_ms < min_ms) && (state[i].last_gps_time_ms > 0)) { if ((gps.state[i].last_gps_time_ms < min_ms) && (gps.state[i].last_gps_time_ms > 0)) {
min_ms = state[i].last_gps_time_ms; min_ms = gps.state[i].last_gps_time_ms;
} }
max_rate_ms = MAX(get_rate_ms(i), max_rate_ms); max_rate_ms = MAX(gps.get_rate_ms(i), max_rate_ms);
if (isinf(state[i].speed_accuracy) || if (isinf(gps.state[i].speed_accuracy) ||
isinf(state[i].horizontal_accuracy) || isinf(gps.state[i].horizontal_accuracy) ||
isinf(state[i].vertical_accuracy)) { isinf(gps.state[i].vertical_accuracy)) {
return false; return false;
} }
} }
if ((max_ms - min_ms) < (2 * max_rate_ms)) { if ((max_ms - min_ms) < (2 * max_rate_ms)) {
// data is not too delayed so use the oldest time_stamp to give a chance for data from that receiver to be updated // data is not too delayed so use the oldest time_stamp to give a chance for data from that receiver to be updated
state[GPS_BLENDED_INSTANCE].last_gps_time_ms = min_ms; state.last_gps_time_ms = min_ms;
} else { } else {
// receiver data has timed out so fail out of blending // receiver data has timed out so fail out of blending
return false; return false;
@ -60,11 +58,11 @@ bool AP_GPS::calc_blend_weights(void)
// calculate the sum squared speed accuracy across all GPS sensors // calculate the sum squared speed accuracy across all GPS sensors
float speed_accuracy_sum_sq = 0.0f; float speed_accuracy_sum_sq = 0.0f;
if (_blend_mask & BLEND_MASK_USE_SPD_ACC) { if (gps._blend_mask & BLEND_MASK_USE_SPD_ACC) {
for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) { for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) {
if (state[i].status >= GPS_OK_FIX_3D) { if (gps.state[i].status >= AP_GPS::GPS_OK_FIX_3D) {
if (state[i].have_speed_accuracy && state[i].speed_accuracy > 0.0f) { if (gps.state[i].have_speed_accuracy && gps.state[i].speed_accuracy > 0.0f) {
speed_accuracy_sum_sq += sq(state[i].speed_accuracy); speed_accuracy_sum_sq += sq(gps.state[i].speed_accuracy);
} else { } else {
// not all receivers support this metric so set it to zero and don't use it // not all receivers support this metric so set it to zero and don't use it
speed_accuracy_sum_sq = 0.0f; speed_accuracy_sum_sq = 0.0f;
@ -76,11 +74,11 @@ bool AP_GPS::calc_blend_weights(void)
// calculate the sum squared horizontal position accuracy across all GPS sensors // calculate the sum squared horizontal position accuracy across all GPS sensors
float horizontal_accuracy_sum_sq = 0.0f; float horizontal_accuracy_sum_sq = 0.0f;
if (_blend_mask & BLEND_MASK_USE_HPOS_ACC) { if (gps._blend_mask & BLEND_MASK_USE_HPOS_ACC) {
for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) { for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) {
if (state[i].status >= GPS_OK_FIX_2D) { if (gps.state[i].status >= AP_GPS::GPS_OK_FIX_2D) {
if (state[i].have_horizontal_accuracy && state[i].horizontal_accuracy > 0.0f) { if (gps.state[i].have_horizontal_accuracy && gps.state[i].horizontal_accuracy > 0.0f) {
horizontal_accuracy_sum_sq += sq(state[i].horizontal_accuracy); horizontal_accuracy_sum_sq += sq(gps.state[i].horizontal_accuracy);
} else { } else {
// not all receivers support this metric so set it to zero and don't use it // not all receivers support this metric so set it to zero and don't use it
horizontal_accuracy_sum_sq = 0.0f; horizontal_accuracy_sum_sq = 0.0f;
@ -92,11 +90,11 @@ bool AP_GPS::calc_blend_weights(void)
// calculate the sum squared vertical position accuracy across all GPS sensors // calculate the sum squared vertical position accuracy across all GPS sensors
float vertical_accuracy_sum_sq = 0.0f; float vertical_accuracy_sum_sq = 0.0f;
if (_blend_mask & BLEND_MASK_USE_VPOS_ACC) { if (gps._blend_mask & BLEND_MASK_USE_VPOS_ACC) {
for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) { for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) {
if (state[i].status >= GPS_OK_FIX_3D) { if (gps.state[i].status >= AP_GPS::GPS_OK_FIX_3D) {
if (state[i].have_vertical_accuracy && state[i].vertical_accuracy > 0.0f) { if (gps.state[i].have_vertical_accuracy && gps.state[i].vertical_accuracy > 0.0f) {
vertical_accuracy_sum_sq += sq(state[i].vertical_accuracy); vertical_accuracy_sum_sq += sq(gps.state[i].vertical_accuracy);
} else { } else {
// not all receivers support this metric so set it to zero and don't use it // not all receivers support this metric so set it to zero and don't use it
vertical_accuracy_sum_sq = 0.0f; vertical_accuracy_sum_sq = 0.0f;
@ -121,8 +119,8 @@ bool AP_GPS::calc_blend_weights(void)
// calculate the weights using the inverse of the variances // calculate the weights using the inverse of the variances
float sum_of_hpos_weights = 0.0f; float sum_of_hpos_weights = 0.0f;
for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) { for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) {
if (state[i].status >= GPS_OK_FIX_2D && state[i].horizontal_accuracy >= 0.001f) { if (gps.state[i].status >= AP_GPS::GPS_OK_FIX_2D && gps.state[i].horizontal_accuracy >= 0.001f) {
hpos_blend_weights[i] = horizontal_accuracy_sum_sq / sq(state[i].horizontal_accuracy); hpos_blend_weights[i] = horizontal_accuracy_sum_sq / sq(gps.state[i].horizontal_accuracy);
sum_of_hpos_weights += hpos_blend_weights[i]; sum_of_hpos_weights += hpos_blend_weights[i];
} }
} }
@ -141,8 +139,8 @@ bool AP_GPS::calc_blend_weights(void)
// calculate the weights using the inverse of the variances // calculate the weights using the inverse of the variances
float sum_of_vpos_weights = 0.0f; float sum_of_vpos_weights = 0.0f;
for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) { for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) {
if (state[i].status >= GPS_OK_FIX_3D && state[i].vertical_accuracy >= 0.001f) { if (gps.state[i].status >= AP_GPS::GPS_OK_FIX_3D && gps.state[i].vertical_accuracy >= 0.001f) {
vpos_blend_weights[i] = vertical_accuracy_sum_sq / sq(state[i].vertical_accuracy); vpos_blend_weights[i] = vertical_accuracy_sum_sq / sq(gps.state[i].vertical_accuracy);
sum_of_vpos_weights += vpos_blend_weights[i]; sum_of_vpos_weights += vpos_blend_weights[i];
} }
} }
@ -161,8 +159,8 @@ bool AP_GPS::calc_blend_weights(void)
// calculate the weights using the inverse of the variances // calculate the weights using the inverse of the variances
float sum_of_spd_weights = 0.0f; float sum_of_spd_weights = 0.0f;
for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) { for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) {
if (state[i].status >= GPS_OK_FIX_3D && state[i].speed_accuracy >= 0.001f) { if (gps.state[i].status >= AP_GPS::GPS_OK_FIX_3D && gps.state[i].speed_accuracy >= 0.001f) {
spd_blend_weights[i] = speed_accuracy_sum_sq / sq(state[i].speed_accuracy); spd_blend_weights[i] = speed_accuracy_sum_sq / sq(gps.state[i].speed_accuracy);
sum_of_spd_weights += spd_blend_weights[i]; sum_of_spd_weights += spd_blend_weights[i];
} }
} }
@ -187,104 +185,116 @@ bool AP_GPS::calc_blend_weights(void)
return true; return true;
} }
bool AP_GPS_Blended::calc_weights()
{
// adjust blend health counter
if (!_calc_weights()) {
_blend_health_counter = MIN(_blend_health_counter+BLEND_COUNTER_FAILURE_INCREMENT, 100);
} else if (_blend_health_counter > 0) {
_blend_health_counter--;
}
// stop blending if unhealthy
return _blend_health_counter < 50;
}
/* /*
calculate a blended GPS state calculate a blended GPS state
*/ */
void AP_GPS::calc_blended_state(void) void AP_GPS_Blended::calc_state(void)
{ {
// initialise the blended states so we can accumulate the results using the weightings for each GPS receiver // initialise the blended states so we can accumulate the results using the weightings for each GPS receiver
state[GPS_BLENDED_INSTANCE].instance = GPS_BLENDED_INSTANCE; state.instance = GPS_BLENDED_INSTANCE;
state[GPS_BLENDED_INSTANCE].status = NO_FIX; state.status = AP_GPS::NO_FIX;
state[GPS_BLENDED_INSTANCE].time_week_ms = 0; state.time_week_ms = 0;
state[GPS_BLENDED_INSTANCE].time_week = 0; state.time_week = 0;
state[GPS_BLENDED_INSTANCE].ground_speed = 0.0f; state.ground_speed = 0.0f;
state[GPS_BLENDED_INSTANCE].ground_course = 0.0f; state.ground_course = 0.0f;
state[GPS_BLENDED_INSTANCE].hdop = GPS_UNKNOWN_DOP; state.hdop = GPS_UNKNOWN_DOP;
state[GPS_BLENDED_INSTANCE].vdop = GPS_UNKNOWN_DOP; state.vdop = GPS_UNKNOWN_DOP;
state[GPS_BLENDED_INSTANCE].num_sats = 0; state.num_sats = 0;
state[GPS_BLENDED_INSTANCE].velocity.zero(); state.velocity.zero();
state[GPS_BLENDED_INSTANCE].speed_accuracy = 1e6f; state.speed_accuracy = 1e6f;
state[GPS_BLENDED_INSTANCE].horizontal_accuracy = 1e6f; state.horizontal_accuracy = 1e6f;
state[GPS_BLENDED_INSTANCE].vertical_accuracy = 1e6f; state.vertical_accuracy = 1e6f;
state[GPS_BLENDED_INSTANCE].have_vertical_velocity = false; state.have_vertical_velocity = false;
state[GPS_BLENDED_INSTANCE].have_speed_accuracy = false; state.have_speed_accuracy = false;
state[GPS_BLENDED_INSTANCE].have_horizontal_accuracy = false; state.have_horizontal_accuracy = false;
state[GPS_BLENDED_INSTANCE].have_vertical_accuracy = false; state.have_vertical_accuracy = false;
state[GPS_BLENDED_INSTANCE].location = {}; state.location = {};
_blended_antenna_offset.zero(); _blended_antenna_offset.zero();
_blended_lag_sec = 0; _blended_lag_sec = 0;
#if HAL_LOGGING_ENABLED #if HAL_LOGGING_ENABLED
const uint32_t last_blended_message_time_ms = timing[GPS_BLENDED_INSTANCE].last_message_time_ms; const uint32_t last_blended_message_time_ms = timing.last_message_time_ms;
#endif #endif
timing[GPS_BLENDED_INSTANCE].last_fix_time_ms = 0; timing.last_fix_time_ms = 0;
timing[GPS_BLENDED_INSTANCE].last_message_time_ms = 0; timing.last_message_time_ms = 0;
if (state[0].have_undulation) { if (gps.state[0].have_undulation) {
state[GPS_BLENDED_INSTANCE].have_undulation = true; state.have_undulation = true;
state[GPS_BLENDED_INSTANCE].undulation = state[0].undulation; state.undulation = gps.state[0].undulation;
} else if (state[1].have_undulation) { } else if (gps.state[1].have_undulation) {
state[GPS_BLENDED_INSTANCE].have_undulation = true; state.have_undulation = true;
state[GPS_BLENDED_INSTANCE].undulation = state[1].undulation; state.undulation = gps.state[1].undulation;
} else { } else {
state[GPS_BLENDED_INSTANCE].have_undulation = false; state.have_undulation = false;
} }
// combine the states into a blended solution // combine the states into a blended solution
for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) { for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) {
// use the highest status // use the highest status
if (state[i].status > state[GPS_BLENDED_INSTANCE].status) { if (gps.state[i].status > state.status) {
state[GPS_BLENDED_INSTANCE].status = state[i].status; state.status = gps.state[i].status;
} }
// calculate a blended average velocity // calculate a blended average velocity
state[GPS_BLENDED_INSTANCE].velocity += state[i].velocity * _blend_weights[i]; state.velocity += gps.state[i].velocity * _blend_weights[i];
// report the best valid accuracies and DOP metrics // report the best valid accuracies and DOP metrics
if (state[i].have_horizontal_accuracy && state[i].horizontal_accuracy > 0.0f && state[i].horizontal_accuracy < state[GPS_BLENDED_INSTANCE].horizontal_accuracy) { if (gps.state[i].have_horizontal_accuracy && gps.state[i].horizontal_accuracy > 0.0f && gps.state[i].horizontal_accuracy < state.horizontal_accuracy) {
state[GPS_BLENDED_INSTANCE].have_horizontal_accuracy = true; state.have_horizontal_accuracy = true;
state[GPS_BLENDED_INSTANCE].horizontal_accuracy = state[i].horizontal_accuracy; state.horizontal_accuracy = gps.state[i].horizontal_accuracy;
} }
if (state[i].have_vertical_accuracy && state[i].vertical_accuracy > 0.0f && state[i].vertical_accuracy < state[GPS_BLENDED_INSTANCE].vertical_accuracy) { if (gps.state[i].have_vertical_accuracy && gps.state[i].vertical_accuracy > 0.0f && gps.state[i].vertical_accuracy < state.vertical_accuracy) {
state[GPS_BLENDED_INSTANCE].have_vertical_accuracy = true; state.have_vertical_accuracy = true;
state[GPS_BLENDED_INSTANCE].vertical_accuracy = state[i].vertical_accuracy; state.vertical_accuracy = gps.state[i].vertical_accuracy;
} }
if (state[i].have_vertical_velocity) { if (gps.state[i].have_vertical_velocity) {
state[GPS_BLENDED_INSTANCE].have_vertical_velocity = true; state.have_vertical_velocity = true;
} }
if (state[i].have_speed_accuracy && state[i].speed_accuracy > 0.0f && state[i].speed_accuracy < state[GPS_BLENDED_INSTANCE].speed_accuracy) { if (gps.state[i].have_speed_accuracy && gps.state[i].speed_accuracy > 0.0f && gps.state[i].speed_accuracy < state.speed_accuracy) {
state[GPS_BLENDED_INSTANCE].have_speed_accuracy = true; state.have_speed_accuracy = true;
state[GPS_BLENDED_INSTANCE].speed_accuracy = state[i].speed_accuracy; state.speed_accuracy = gps.state[i].speed_accuracy;
} }
if (state[i].hdop > 0 && state[i].hdop < state[GPS_BLENDED_INSTANCE].hdop) { if (gps.state[i].hdop > 0 && gps.state[i].hdop < state.hdop) {
state[GPS_BLENDED_INSTANCE].hdop = state[i].hdop; state.hdop = gps.state[i].hdop;
} }
if (state[i].vdop > 0 && state[i].vdop < state[GPS_BLENDED_INSTANCE].vdop) { if (gps.state[i].vdop > 0 && gps.state[i].vdop < state.vdop) {
state[GPS_BLENDED_INSTANCE].vdop = state[i].vdop; state.vdop = gps.state[i].vdop;
} }
if (state[i].num_sats > 0 && state[i].num_sats > state[GPS_BLENDED_INSTANCE].num_sats) { if (gps.state[i].num_sats > 0 && gps.state[i].num_sats > state.num_sats) {
state[GPS_BLENDED_INSTANCE].num_sats = state[i].num_sats; state.num_sats = gps.state[i].num_sats;
} }
// report a blended average GPS antenna position // report a blended average GPS antenna position
Vector3f temp_antenna_offset = params[i].antenna_offset; Vector3f temp_antenna_offset = gps.params[i].antenna_offset;
temp_antenna_offset *= _blend_weights[i]; temp_antenna_offset *= _blend_weights[i];
_blended_antenna_offset += temp_antenna_offset; _blended_antenna_offset += temp_antenna_offset;
// blend the timing data // blend the timing data
if (timing[i].last_fix_time_ms > timing[GPS_BLENDED_INSTANCE].last_fix_time_ms) { if (gps.timing[i].last_fix_time_ms > timing.last_fix_time_ms) {
timing[GPS_BLENDED_INSTANCE].last_fix_time_ms = timing[i].last_fix_time_ms; timing.last_fix_time_ms = gps.timing[i].last_fix_time_ms;
} }
if (timing[i].last_message_time_ms > timing[GPS_BLENDED_INSTANCE].last_message_time_ms) { if (gps.timing[i].last_message_time_ms > timing.last_message_time_ms) {
timing[GPS_BLENDED_INSTANCE].last_message_time_ms = timing[i].last_message_time_ms; timing.last_message_time_ms = gps.timing[i].last_message_time_ms;
} }
} }
@ -300,7 +310,7 @@ void AP_GPS::calc_blended_state(void)
if (_blend_weights[i] > best_weight) { if (_blend_weights[i] > best_weight) {
best_weight = _blend_weights[i]; best_weight = _blend_weights[i];
best_index = i; best_index = i;
state[GPS_BLENDED_INSTANCE].location = state[i].location; state.location = gps.state[i].location;
} }
} }
@ -310,18 +320,18 @@ void AP_GPS::calc_blended_state(void)
blended_NE_offset_m.zero(); blended_NE_offset_m.zero();
for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) { for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) {
if (_blend_weights[i] > 0.0f && i != best_index) { if (_blend_weights[i] > 0.0f && i != best_index) {
blended_NE_offset_m += state[GPS_BLENDED_INSTANCE].location.get_distance_NE(state[i].location) * _blend_weights[i]; blended_NE_offset_m += state.location.get_distance_NE(gps.state[i].location) * _blend_weights[i];
blended_alt_offset_cm += (float)(state[i].location.alt - state[GPS_BLENDED_INSTANCE].location.alt) * _blend_weights[i]; blended_alt_offset_cm += (float)(gps.state[i].location.alt - state.location.alt) * _blend_weights[i];
} }
} }
// Add the sum of weighted offsets to the reference location to obtain the blended location // Add the sum of weighted offsets to the reference location to obtain the blended location
state[GPS_BLENDED_INSTANCE].location.offset(blended_NE_offset_m.x, blended_NE_offset_m.y); state.location.offset(blended_NE_offset_m.x, blended_NE_offset_m.y);
state[GPS_BLENDED_INSTANCE].location.alt += (int)blended_alt_offset_cm; state.location.alt += (int)blended_alt_offset_cm;
// Calculate ground speed and course from blended velocity vector // Calculate ground speed and course from blended velocity vector
state[GPS_BLENDED_INSTANCE].ground_speed = state[GPS_BLENDED_INSTANCE].velocity.xy().length(); state.ground_speed = state.velocity.xy().length();
state[GPS_BLENDED_INSTANCE].ground_course = wrap_360(degrees(atan2f(state[GPS_BLENDED_INSTANCE].velocity.y, state[GPS_BLENDED_INSTANCE].velocity.x))); state.ground_course = wrap_360(degrees(atan2f(state.velocity.y, state.velocity.x)));
// If the GPS week is the same then use a blended time_week_ms // If the GPS week is the same then use a blended time_week_ms
// If week is different, then use time stamp from GPS with largest weighting // If week is different, then use time stamp from GPS with largest weighting
@ -331,8 +341,8 @@ void AP_GPS::calc_blended_state(void)
for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) { for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) {
if (last_week_instance == 0 && _blend_weights[i] > 0) { if (last_week_instance == 0 && _blend_weights[i] > 0) {
// this is our first valid sensor week data // this is our first valid sensor week data
last_week_instance = state[i].time_week; last_week_instance = gps.state[i].time_week;
} else if (last_week_instance != 0 && _blend_weights[i] > 0 && last_week_instance != state[i].time_week) { } else if (last_week_instance != 0 && _blend_weights[i] > 0 && last_week_instance != gps.state[i].time_week) {
// there is valid sensor week data that is inconsistent // there is valid sensor week data that is inconsistent
weeks_consistent = false; weeks_consistent = false;
} }
@ -340,19 +350,19 @@ void AP_GPS::calc_blended_state(void)
// calculate output // calculate output
if (!weeks_consistent) { if (!weeks_consistent) {
// use data from highest weighted sensor // use data from highest weighted sensor
state[GPS_BLENDED_INSTANCE].time_week = state[best_index].time_week; state.time_week = gps.state[best_index].time_week;
state[GPS_BLENDED_INSTANCE].time_week_ms = state[best_index].time_week_ms; state.time_week_ms = gps.state[best_index].time_week_ms;
} else { } else {
// use week number from highest weighting GPS (they should all have the same week number) // use week number from highest weighting GPS (they should all have the same week number)
state[GPS_BLENDED_INSTANCE].time_week = state[best_index].time_week; state.time_week = gps.state[best_index].time_week;
// calculate a blended value for the number of ms lapsed in the week // calculate a blended value for the number of ms lapsed in the week
double temp_time_0 = 0.0; double temp_time_0 = 0.0;
for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) { for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) {
if (_blend_weights[i] > 0.0f) { if (_blend_weights[i] > 0.0f) {
temp_time_0 += (double)state[i].time_week_ms * (double)_blend_weights[i]; temp_time_0 += (double)gps.state[i].time_week_ms * (double)_blend_weights[i];
} }
} }
state[GPS_BLENDED_INSTANCE].time_week_ms = (uint32_t)temp_time_0; state.time_week_ms = (uint32_t)temp_time_0;
} }
// calculate a blended value for the timing data and lag // calculate a blended value for the timing data and lag
@ -360,21 +370,30 @@ void AP_GPS::calc_blended_state(void)
double temp_time_2 = 0.0; double temp_time_2 = 0.0;
for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) { for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) {
if (_blend_weights[i] > 0.0f) { if (_blend_weights[i] > 0.0f) {
temp_time_1 += (double)timing[i].last_fix_time_ms * (double) _blend_weights[i]; temp_time_1 += (double)gps.timing[i].last_fix_time_ms * (double) _blend_weights[i];
temp_time_2 += (double)timing[i].last_message_time_ms * (double)_blend_weights[i]; temp_time_2 += (double)gps.timing[i].last_message_time_ms * (double)_blend_weights[i];
float gps_lag_sec = 0; float gps_lag_sec = 0;
get_lag(i, gps_lag_sec); gps.get_lag(i, gps_lag_sec);
_blended_lag_sec += gps_lag_sec * _blend_weights[i]; _blended_lag_sec += gps_lag_sec * _blend_weights[i];
} }
} }
timing[GPS_BLENDED_INSTANCE].last_fix_time_ms = (uint32_t)temp_time_1; timing.last_fix_time_ms = (uint32_t)temp_time_1;
timing[GPS_BLENDED_INSTANCE].last_message_time_ms = (uint32_t)temp_time_2; timing.last_message_time_ms = (uint32_t)temp_time_2;
#if HAL_LOGGING_ENABLED #if HAL_LOGGING_ENABLED
if (timing[GPS_BLENDED_INSTANCE].last_message_time_ms > last_blended_message_time_ms && if (timing.last_message_time_ms > last_blended_message_time_ms &&
should_log()) { should_log()) {
Write_GPS(GPS_BLENDED_INSTANCE); gps.Write_GPS(GPS_BLENDED_INSTANCE);
} }
#endif #endif
} }
bool AP_GPS_Blended::get_lag(float &lag_sec) const
{
lag_sec = _blended_lag_sec;
// auto switching uses all GPS receivers, so all must be configured
uint8_t inst; // we don't actually care what the number is, but must pass it
return gps.first_unconfigured_gps(inst);
}
#endif // AP_GPS_BLENDED_ENABLED #endif // AP_GPS_BLENDED_ENABLED

74
libraries/AP_GPS/AP_GPS_Blended.h Normal file
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@ -0,0 +1,74 @@
#pragma once
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "AP_GPS_config.h"
#if AP_GPS_BLENDED_ENABLED
#include "AP_GPS.h"
#include "GPS_Backend.h"
class AP_GPS_Blended : public AP_GPS_Backend
{
public:
AP_GPS_Blended(AP_GPS &_gps, AP_GPS::Params &_params, AP_GPS::GPS_State &_state, class AP_GPS::GPS_timing &_timing) :
AP_GPS_Backend(_gps, _params, _state, nullptr),
timing{_timing}
{ }
// pre-arm check of GPS blending. False if blending is unhealthy,
// True if healthy or blending is not being used
bool is_healthy() const override {
return (_blend_health_counter < 50);
}
bool read() override { return true; }
const char *name() const override { return "Blended"; }
bool get_lag(float &lag_sec) const override;
const Vector3f &get_antenna_offset() const {
return _blended_antenna_offset;
}
// calculate the blend weight. Returns true if blend could be
// calculated, false if not
bool calc_weights(void);
// calculate the blended state
void calc_state(void);
void zero_health_counter() {
_blend_health_counter = 0;
}
private:
// GPS blending and switching
Vector3f _blended_antenna_offset; // blended antenna offset
float _blended_lag_sec; // blended receiver lag in seconds
float _blend_weights[GPS_MAX_RECEIVERS]; // blend weight for each GPS. The blend weights must sum to 1.0 across all instances.
bool _output_is_blended; // true when a blended GPS solution being output
uint8_t _blend_health_counter; // 0 = perfectly health, 100 = very unhealthy
AP_GPS::GPS_timing &timing;
bool _calc_weights(void);
};
#endif // AP_GPS_BLENDED_ENABLED

14
libraries/AP_GPS/AP_GPS_config.h
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@ -15,6 +15,7 @@
#ifndef GPS_MAX_RECEIVERS #ifndef GPS_MAX_RECEIVERS
#define GPS_MAX_RECEIVERS 2 // maximum number of physical GPS sensors allowed - does not include virtual GPS created by blending receiver data #define GPS_MAX_RECEIVERS 2 // maximum number of physical GPS sensors allowed - does not include virtual GPS created by blending receiver data
#endif #endif
#if !defined(GPS_MAX_INSTANCES) #if !defined(GPS_MAX_INSTANCES)
#if GPS_MAX_RECEIVERS > 1 #if GPS_MAX_RECEIVERS > 1
#define GPS_MAX_INSTANCES (GPS_MAX_RECEIVERS + 1) // maximum number of GPS instances including the 'virtual' GPS created by blending receiver data #define GPS_MAX_INSTANCES (GPS_MAX_RECEIVERS + 1) // maximum number of GPS instances including the 'virtual' GPS created by blending receiver data
@ -26,18 +27,21 @@
#if GPS_MAX_RECEIVERS <= 1 && GPS_MAX_INSTANCES > 1 #if GPS_MAX_RECEIVERS <= 1 && GPS_MAX_INSTANCES > 1
#error "GPS_MAX_INSTANCES should be 1 for GPS_MAX_RECEIVERS <= 1" #error "GPS_MAX_INSTANCES should be 1 for GPS_MAX_RECEIVERS <= 1"
#endif #endif
#if GPS_MAX_INSTANCES > GPS_MAX_RECEIVERS
#define GPS_BLENDED_INSTANCE GPS_MAX_RECEIVERS // the virtual blended GPS is always the highest instance (2)
#endif
#endif #endif
#ifndef AP_GPS_BACKEND_DEFAULT_ENABLED #ifndef AP_GPS_BACKEND_DEFAULT_ENABLED
#define AP_GPS_BACKEND_DEFAULT_ENABLED AP_GPS_ENABLED #define AP_GPS_BACKEND_DEFAULT_ENABLED AP_GPS_ENABLED
#endif #endif
#if !defined(AP_GPS_BLENDED_ENABLED) && defined(GPS_MAX_INSTANCES)
#define AP_GPS_BLENDED_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED && GPS_MAX_INSTANCES > GPS_MAX_RECEIVERS
#if AP_GPS_BLENDED_ENABLED
#define GPS_BLENDED_INSTANCE GPS_MAX_RECEIVERS // the virtual blended GPS is always the highest instance (2)
#endif
#endif
#ifndef AP_GPS_BLENDED_ENABLED #ifndef AP_GPS_BLENDED_ENABLED
#define AP_GPS_BLENDED_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED && defined(GPS_BLENDED_INSTANCE) #define AP_GPS_BLENDED_ENABLED 0
#endif #endif
#ifndef AP_GPS_DRONECAN_ENABLED #ifndef AP_GPS_DRONECAN_ENABLED