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AP_GPS: update implementation of SBP2 flags

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Some flags were out of date or named incorrectly.

Updates based on protocol version 2.4.1, documented here:
b02e8d835c/docs/sbp.pdf
This commit is contained in:
Ben Kurtz 2018-10-26 18:54:08 -07:00 committed by Francisco Ferreira
parent 79eb0ac75f
commit a525f30573
2 changed files with 15 additions and 12 deletions
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8
libraries/AP_GPS/AP_GPS_SBP2.cpp
View File

@ -271,14 +271,14 @@ AP_GPS_SBP2::_attempt_state_update()
// //
// Check Flags for Valid Messages // Check Flags for Valid Messages
// //
if (last_gps_time.flags.fix_mode == 0 || if (last_gps_time.flags.time_src == 0 ||
last_vel_ned.flags.fix_mode == 0 || last_vel_ned.flags.vel_mode == 0 ||
last_pos_llh.flags.fix_mode == 0 || last_pos_llh.flags.fix_mode == 0 ||
last_dops.flags.fix_mode == 0) { last_dops.flags.fix_mode == 0) {
Debug("Message Marked as Invalid. NO FIX! Flags: {GPS_TIME: %d, VEL_NED: %d, POS_LLH: %d, DOPS: %d}", Debug("Message Marked as Invalid. NO FIX! Flags: {GPS_TIME: %d, VEL_NED: %d, POS_LLH: %d, DOPS: %d}",
last_gps_time.flags.fix_mode, last_gps_time.flags.time_src,
last_vel_ned.flags.fix_mode, last_vel_ned.flags.vel_mode,
last_pos_llh.flags.fix_mode, last_pos_llh.flags.fix_mode,
last_dops.flags.fix_mode); last_dops.flags.fix_mode);

19
libraries/AP_GPS/AP_GPS_SBP2.h
View File

@ -88,7 +88,8 @@ private:
uint8_t res : 5; uint8_t res : 5;
uint8_t protocol_minor : 8; uint8_t protocol_minor : 8;
uint8_t protocol_major : 8; uint8_t protocol_major : 8;
uint8_t res2 : 7; uint8_t res2 : 6;
bool ext_antenna_short : 1;
bool ext_antenna : 1; bool ext_antenna : 1;
}; // 4 bytes }; // 4 bytes
@ -98,7 +99,7 @@ private:
uint32_t tow; //< GPS Time of Week rounded to the nearest ms (unit: ms) uint32_t tow; //< GPS Time of Week rounded to the nearest ms (unit: ms)
int32_t ns; //< Nanosecond remainder of rounded tow (unit: ns) int32_t ns; //< Nanosecond remainder of rounded tow (unit: ns)
struct PACKED flags { struct PACKED flags {
uint8_t fix_mode:3; //< Fix mode (0: invalid, 1: SPP, 2: DGNSS, 3: Float RTX, 4: Fixed RTX uint8_t time_src:3; //< Fix mode (0: invalid, 1: GNSS Solution, 2: Propagated
uint8_t res:5; //< Reserved uint8_t res:5; //< Reserved
} flags; } flags;
}; // 11 bytes }; // 11 bytes
@ -112,7 +113,7 @@ private:
uint16_t hdop; //< Horizontal Dilution of Precision (unit: 0.01) uint16_t hdop; //< Horizontal Dilution of Precision (unit: 0.01)
uint16_t vdop; //< Vertical Dilution of Precision (unit: 0.01) uint16_t vdop; //< Vertical Dilution of Precision (unit: 0.01)
struct PACKED flags { struct PACKED flags {
uint8_t fix_mode:3; //< Fix mode (0: invalid, 1: SPP, 2: DGNSS, 3: Float RTX, 4: Fixed RTX uint8_t fix_mode:3; //< Fix mode (0: invalid, 1: SPP, 2: DGNSS, 3: Float RTX, 4: Fixed RTX, 5: Undefined, 6: SBAS Position
uint8_t res:4; //< Reserved uint8_t res:4; //< Reserved
bool raim_repair:1; //< Solution from RAIM? bool raim_repair:1; //< Solution from RAIM?
} flags; } flags;
@ -128,9 +129,9 @@ private:
uint16_t v_accuracy; //< Vertical position accuracy estimate (unit: mm) uint16_t v_accuracy; //< Vertical position accuracy estimate (unit: mm)
uint8_t n_sats; //< Number of satellites used in solution uint8_t n_sats; //< Number of satellites used in solution
struct PACKED flags { struct PACKED flags {
uint8_t fix_mode:3; //< Fix mode (0: invalid, 1: SPP, 2: DGNSS, 3: Float RTX, 4: Fixed RTX uint8_t fix_mode:3; //< Fix mode (0: invalid, 1: SPP, 2: DGNSS, 3: Float RTX, 4: Fixed RTX, 5: Dead Reckoning, 6: SBAS Position
uint8_t res:4; //< Reserved uint8_t ins_mode:2; //< Inertial navigation mode (0: none, 1: INS used)
bool raim_repair:1; //< Solution from RAIM? uint8_t res:3; //< Reserved
} flags; } flags;
}; // 34 bytes }; // 34 bytes
@ -144,8 +145,9 @@ private:
uint16_t v_accuracy; //< Vertical velocity accuracy estimate (unit: mm/s) uint16_t v_accuracy; //< Vertical velocity accuracy estimate (unit: mm/s)
uint8_t n_sats; //< Number of satellites used in solution uint8_t n_sats; //< Number of satellites used in solution
struct PACKED flags { struct PACKED flags {
uint8_t fix_mode:3; //< Fix mode (0: invalid, 1: SPP, 2: DGNSS, 3: Float RTX, 4: Fixed RTX uint8_t vel_mode:3; //< Velocity mode (0: Invalid, 1: Measured Doppler derived, 2: Computed Doppler derived, 3: Dead reckoning)
uint8_t res:5; //< Reserved uint8_t ins_mode:2; //< Inertial navigation mode (0: none, 1: INS used)
uint8_t res:3; //< Reserved
} flags; } flags;
}; // 22 bytes }; // 22 bytes
@ -159,6 +161,7 @@ private:
uint8_t quality:1; //< Time quality values (0: Unknown - don't have nav solution, 1: Good (< 1 microsecond)) uint8_t quality:1; //< Time quality values (0: Unknown - don't have nav solution, 1: Good (< 1 microsecond))
uint8_t res:6; //< Reserved uint8_t res:6; //< Reserved
} flags; } flags;
uint8_t pin; //< Pin number (0-9)
}; // 12 bytes }; // 12 bytes
void _sbp_process(); void _sbp_process();