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AP_GPS: support Fix2 message for UAVCAN

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this allows for RTK fix levels
This commit is contained in:
Andrew Tridgell 2019-11-06 21:32:25 +11:00
parent 69b199cefa
commit 44257a0247
4 changed files with 11 additions and 5 deletions
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4
libraries/AP_GPS/AP_GPS.cpp
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@ -1002,7 +1002,7 @@ void AP_GPS::send_mavlink_gps_raw(mavlink_channel_t chan)
hacc * 1000, // one-sigma standard deviation in mm hacc * 1000, // one-sigma standard deviation in mm
vacc * 1000, // one-sigma standard deviation in mm vacc * 1000, // one-sigma standard deviation in mm
sacc * 1000, // one-sigma standard deviation in mm/s sacc * 1000, // one-sigma standard deviation in mm/s
0, 0); // TODO one-sigma heading accuracy standard deviation 0); // TODO one-sigma heading accuracy standard deviation
} }
#if GPS_MAX_RECEIVERS > 1 #if GPS_MAX_RECEIVERS > 1
@ -1032,7 +1032,7 @@ void AP_GPS::send_mavlink_gps2_raw(mavlink_channel_t chan)
ground_course(1)*100, // 1/100 degrees, ground_course(1)*100, // 1/100 degrees,
num_sats(1), num_sats(1),
state[1].rtk_num_sats, state[1].rtk_num_sats,
state[1].rtk_age_ms, 0); state[1].rtk_age_ms);
} }
#endif // GPS_MAX_RECEIVERS #endif // GPS_MAX_RECEIVERS

9
libraries/AP_GPS/AP_GPS_UAVCAN.cpp
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@ -249,6 +249,15 @@ void AP_GPS_UAVCAN::handle_fix_msg(const FixCb &cb)
interim_state.last_gps_time_ms = AP_HAL::millis(); interim_state.last_gps_time_ms = AP_HAL::millis();
_new_data = true; _new_data = true;
if (!seen_message) {
if (interim_state.status == AP_GPS::GPS_Status::NO_GPS) {
// the first time we see a fix message we change from
// NO_GPS to NO_FIX, indicating to user that a UAVCAN GPS
// has been seen
interim_state.status = AP_GPS::GPS_Status::NO_FIX;
}
seen_message = true;
}
} }

2
libraries/AP_GPS/AP_GPS_UAVCAN.h
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@ -62,8 +62,6 @@ private:
HAL_Semaphore sem; HAL_Semaphore sem;
uint8_t _detected_module; uint8_t _detected_module;
bool seen_message;
bool seen_message; bool seen_message;
bool seen_fix2; bool seen_fix2;
bool seen_aux; bool seen_aux;

1
libraries/AP_GPS/AP_GPS_UBLOX.cpp
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@ -23,7 +23,6 @@
#include <AP_HAL/Util.h> #include <AP_HAL/Util.h>
#include <AP_Logger/AP_Logger.h> #include <AP_Logger/AP_Logger.h>
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <stdio.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \ #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH