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AP_GPS: Update GSOF docs with newer data

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Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
This commit is contained in:
Ryan Friedman 2023-05-18 23:02:31 -06:00 committed by Peter Barker
parent 2a3faf5dff
commit 77e169b226
2 changed files with 9 additions and 3 deletions
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9
libraries/AP_GPS/AP_GPS_GSOF.cpp
View File

@ -88,6 +88,7 @@ AP_GPS_GSOF::read(void)
bool bool
AP_GPS_GSOF::parse(const uint8_t temp) AP_GPS_GSOF::parse(const uint8_t temp)
{ {
// https://receiverhelp.trimble.com/oem-gnss/index.html#API_DataCollectorFormatPacketStructure.html
switch (msg.state) switch (msg.state)
{ {
default: default:
@ -248,9 +249,8 @@ AP_GPS_GSOF::SwapUint16(const uint8_t* src, const uint32_t pos) const
bool bool
AP_GPS_GSOF::process_message(void) AP_GPS_GSOF::process_message(void)
{ {
//http://www.trimble.com/OEM_ReceiverHelp/V4.81/en/default.html#welcome.html
if (msg.packettype == 0x40) { // GSOF if (msg.packettype == 0x40) { // GSOF
// https://receiverhelp.trimble.com/oem-gnss/index.html#GSOFmessages_TIME.html?TocPath=Output%2520Messages%257CGSOF%2520Messages%257C_____25
#if gsof_DEBUGGING #if gsof_DEBUGGING
const uint8_t trans_number = msg.data[0]; const uint8_t trans_number = msg.data[0];
const uint8_t pageidx = msg.data[1]; const uint8_t pageidx = msg.data[1];
@ -273,6 +273,7 @@ AP_GPS_GSOF::process_message(void)
if (output_type == 1) // pos time if (output_type == 1) // pos time
{ {
// https://receiverhelp.trimble.com/oem-gnss/index.html#GSOFmessages_TIME.html?TocPath=Output%2520Messages%257CGSOF%2520Messages%257C_____25
state.time_week_ms = SwapUint32(msg.data, a); state.time_week_ms = SwapUint32(msg.data, a);
state.time_week = SwapUint16(msg.data, a + 4); state.time_week = SwapUint16(msg.data, a + 4);
state.num_sats = msg.data[a + 6]; state.num_sats = msg.data[a + 6];
@ -300,6 +301,7 @@ AP_GPS_GSOF::process_message(void)
} }
else if (output_type == 2) // position else if (output_type == 2) // position
{ {
// This packet is not documented in Trimble's receiver help as of May 18, 2023
state.location.lat = (int32_t)(RAD_TO_DEG_DOUBLE * (SwapDouble(msg.data, a)) * (double)1e7); state.location.lat = (int32_t)(RAD_TO_DEG_DOUBLE * (SwapDouble(msg.data, a)) * (double)1e7);
state.location.lng = (int32_t)(RAD_TO_DEG_DOUBLE * (SwapDouble(msg.data, a + 8)) * (double)1e7); state.location.lng = (int32_t)(RAD_TO_DEG_DOUBLE * (SwapDouble(msg.data, a + 8)) * (double)1e7);
state.location.alt = (int32_t)(SwapDouble(msg.data, a + 16) * 100); state.location.alt = (int32_t)(SwapDouble(msg.data, a + 16) * 100);
@ -310,6 +312,7 @@ AP_GPS_GSOF::process_message(void)
} }
else if (output_type == 8) // velocity else if (output_type == 8) // velocity
{ {
// https://receiverhelp.trimble.com/oem-gnss/index.html#GSOFmessages_Velocity.html?TocPath=Output%2520Messages%257CGSOF%2520Messages%257C_____32
const uint8_t vflag = msg.data[a]; const uint8_t vflag = msg.data[a];
if ((vflag & 1) == 1) if ((vflag & 1) == 1)
{ {
@ -323,11 +326,13 @@ AP_GPS_GSOF::process_message(void)
} }
else if (output_type == 9) //dop else if (output_type == 9) //dop
{ {
// https://receiverhelp.trimble.com/oem-gnss/index.html#GSOFmessages_PDOP.html?TocPath=Output%2520Messages%257CGSOF%2520Messages%257C_____12
state.hdop = (uint16_t)(SwapFloat(msg.data, a + 4) * 100); state.hdop = (uint16_t)(SwapFloat(msg.data, a + 4) * 100);
valid++; valid++;
} }
else if (output_type == 12) // position sigma else if (output_type == 12) // position sigma
{ {
// https://receiverhelp.trimble.com/oem-gnss/index.html#GSOFmessages_SIGMA.html?TocPath=Output%2520Messages%257CGSOF%2520Messages%257C_____24
state.horizontal_accuracy = (SwapFloat(msg.data, a + 4) + SwapFloat(msg.data, a + 8)) / 2; state.horizontal_accuracy = (SwapFloat(msg.data, a + 4) + SwapFloat(msg.data, a + 8)) / 2;
state.vertical_accuracy = SwapFloat(msg.data, a + 16); state.vertical_accuracy = SwapFloat(msg.data, a + 16);
state.have_horizontal_accuracy = true; state.have_horizontal_accuracy = true;

3
libraries/AP_GPS/AP_GPS_GSOF.h
View File

@ -16,7 +16,8 @@
// //
// Trimble GPS driver for ArduPilot. // Trimble GPS driver for ArduPilot.
// Code by Michael Oborne // Code by Michael Oborne
// // https://receiverhelp.trimble.com/oem-gnss/index.html#Welcome.html?TocPath=_____1
#pragma once #pragma once
#include "AP_GPS.h" #include "AP_GPS.h"