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AP_Periph: added gnss::Fix2 support

This commit is contained in:
Andrew Tridgell 2019-11-06 21:08:27 +11:00 committed by Randy Mackay
parent f2766ddebf
commit a7d29b2cff
1 changed files with 156 additions and 66 deletions
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222
Tools/AP_Periph/can.cpp
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@ -29,6 +29,7 @@
#include <uavcan/protocol/param/ExecuteOpcode.h> #include <uavcan/protocol/param/ExecuteOpcode.h>
#include <uavcan/equipment/ahrs/MagneticFieldStrength.h> #include <uavcan/equipment/ahrs/MagneticFieldStrength.h>
#include <uavcan/equipment/gnss/Fix.h> #include <uavcan/equipment/gnss/Fix.h>
#include <uavcan/equipment/gnss/Fix2.h>
#include <uavcan/equipment/gnss/Auxiliary.h> #include <uavcan/equipment/gnss/Auxiliary.h>
#include <uavcan/equipment/air_data/StaticPressure.h> #include <uavcan/equipment/air_data/StaticPressure.h>
#include <uavcan/equipment/air_data/StaticTemperature.h> #include <uavcan/equipment/air_data/StaticTemperature.h>
@ -1119,73 +1120,73 @@ void AP_Periph_FW::can_gps_update(void)
} }
last_gps_update_ms = gps.last_message_time_ms(); last_gps_update_ms = gps.last_message_time_ms();
/*
send Fix packet
*/
uavcan_equipment_gnss_Fix pkt {};
const Location &loc = gps.location();
const Vector3f &vel = gps.velocity();
pkt.timestamp.usec = AP_HAL::micros64();
pkt.gnss_timestamp.usec = gps.time_epoch_usec();
pkt.gnss_time_standard = UAVCAN_EQUIPMENT_GNSS_FIX_GNSS_TIME_STANDARD_UTC;
pkt.longitude_deg_1e8 = uint64_t(loc.lng) * 10ULL;
pkt.latitude_deg_1e8 = uint64_t(loc.lat) * 10ULL;
pkt.height_ellipsoid_mm = loc.alt * 10;
pkt.height_msl_mm = loc.alt * 10;
for (uint8_t i=0; i<3; i++) {
// the canard dsdl compiler doesn't understand float16
pkt.ned_velocity[i] = vel[i];
fix_float16(pkt.ned_velocity[i]);
}
pkt.sats_used = gps.num_sats();
switch (gps.status()) {
case AP_GPS::GPS_Status::NO_GPS:
case AP_GPS::GPS_Status::NO_FIX:
pkt.status = UAVCAN_EQUIPMENT_GNSS_FIX_STATUS_NO_FIX;
break;
case AP_GPS::GPS_Status::GPS_OK_FIX_2D:
pkt.status = UAVCAN_EQUIPMENT_GNSS_FIX_STATUS_2D_FIX;
break;
case AP_GPS::GPS_Status::GPS_OK_FIX_3D:
case AP_GPS::GPS_Status::GPS_OK_FIX_3D_DGPS:
case AP_GPS::GPS_Status::GPS_OK_FIX_3D_RTK_FLOAT:
case AP_GPS::GPS_Status::GPS_OK_FIX_3D_RTK_FIXED:
pkt.status = UAVCAN_EQUIPMENT_GNSS_FIX_STATUS_3D_FIX;
break;
}
float pos_cov[9] {};
pkt.position_covariance.data = &pos_cov[0];
pkt.position_covariance.len = 9;
float vacc;
if (gps.vertical_accuracy(vacc)) {
pos_cov[8] = sq(vacc);
fix_float16(pos_cov[8]);
}
float hacc;
if (gps.horizontal_accuracy(hacc)) {
pos_cov[0] = pos_cov[4] = sq(hacc);
fix_float16(pos_cov[0]);
fix_float16(pos_cov[4]);
}
float vel_cov[9] {};
pkt.velocity_covariance.data = &pos_cov[0];
pkt.velocity_covariance.len = 9;
float sacc;
if (gps.speed_accuracy(sacc)) {
float vc3 = sq(sacc/3.0);
vel_cov[0] = vel_cov[4] = vel_cov[8] = vc3;
fix_float16(vel_cov[0]);
fix_float16(vel_cov[4]);
fix_float16(vel_cov[8]);
}
{ {
/*
send Fix packet
*/
uavcan_equipment_gnss_Fix pkt {};
const Location &loc = gps.location();
const Vector3f &vel = gps.velocity();
pkt.timestamp.usec = AP_HAL::micros64();
pkt.gnss_timestamp.usec = gps.time_epoch_usec();
pkt.gnss_time_standard = UAVCAN_EQUIPMENT_GNSS_FIX_GNSS_TIME_STANDARD_UTC;
pkt.longitude_deg_1e8 = uint64_t(loc.lng) * 10ULL;
pkt.latitude_deg_1e8 = uint64_t(loc.lat) * 10ULL;
pkt.height_ellipsoid_mm = loc.alt * 10;
pkt.height_msl_mm = loc.alt * 10;
for (uint8_t i=0; i<3; i++) {
// the canard dsdl compiler doesn't understand float16
pkt.ned_velocity[i] = vel[i];
fix_float16(pkt.ned_velocity[i]);
}
pkt.sats_used = gps.num_sats();
switch (gps.status()) {
case AP_GPS::GPS_Status::NO_GPS:
case AP_GPS::GPS_Status::NO_FIX:
pkt.status = UAVCAN_EQUIPMENT_GNSS_FIX_STATUS_NO_FIX;
break;
case AP_GPS::GPS_Status::GPS_OK_FIX_2D:
pkt.status = UAVCAN_EQUIPMENT_GNSS_FIX_STATUS_2D_FIX;
break;
case AP_GPS::GPS_Status::GPS_OK_FIX_3D:
case AP_GPS::GPS_Status::GPS_OK_FIX_3D_DGPS:
case AP_GPS::GPS_Status::GPS_OK_FIX_3D_RTK_FLOAT:
case AP_GPS::GPS_Status::GPS_OK_FIX_3D_RTK_FIXED:
pkt.status = UAVCAN_EQUIPMENT_GNSS_FIX_STATUS_3D_FIX;
break;
}
float pos_cov[9] {};
pkt.position_covariance.data = &pos_cov[0];
pkt.position_covariance.len = 9;
float vacc;
if (gps.vertical_accuracy(vacc)) {
pos_cov[8] = sq(vacc);
fix_float16(pos_cov[8]);
}
float hacc;
if (gps.horizontal_accuracy(hacc)) {
pos_cov[0] = pos_cov[4] = sq(hacc);
fix_float16(pos_cov[0]);
fix_float16(pos_cov[4]);
}
float vel_cov[9] {};
pkt.velocity_covariance.data = &pos_cov[0];
pkt.velocity_covariance.len = 9;
float sacc;
if (gps.speed_accuracy(sacc)) {
float vc3 = sq(sacc);
vel_cov[0] = vel_cov[4] = vel_cov[8] = vc3;
fix_float16(vel_cov[0]);
fix_float16(vel_cov[4]);
fix_float16(vel_cov[8]);
}
uint8_t buffer[UAVCAN_EQUIPMENT_GNSS_FIX_MAX_SIZE]; uint8_t buffer[UAVCAN_EQUIPMENT_GNSS_FIX_MAX_SIZE];
uint16_t total_size = uavcan_equipment_gnss_Fix_encode(&pkt, buffer); uint16_t total_size = uavcan_equipment_gnss_Fix_encode(&pkt, buffer);
@ -1198,6 +1199,95 @@ void AP_Periph_FW::can_gps_update(void)
total_size); total_size);
} }
{
/*
send Fix2 packet
*/
uavcan_equipment_gnss_Fix2 pkt {};
const Location &loc = gps.location();
const Vector3f &vel = gps.velocity();
pkt.timestamp.usec = AP_HAL::micros64();
pkt.gnss_timestamp.usec = gps.time_epoch_usec();
pkt.gnss_time_standard = UAVCAN_EQUIPMENT_GNSS_FIX2_GNSS_TIME_STANDARD_UTC;
pkt.longitude_deg_1e8 = uint64_t(loc.lng) * 10ULL;
pkt.latitude_deg_1e8 = uint64_t(loc.lat) * 10ULL;
pkt.height_ellipsoid_mm = loc.alt * 10;
pkt.height_msl_mm = loc.alt * 10;
for (uint8_t i=0; i<3; i++) {
pkt.ned_velocity[i] = vel[i];
}
pkt.sats_used = gps.num_sats();
switch (gps.status()) {
case AP_GPS::GPS_Status::NO_GPS:
case AP_GPS::GPS_Status::NO_FIX:
pkt.status = UAVCAN_EQUIPMENT_GNSS_FIX2_STATUS_NO_FIX;
pkt.mode = UAVCAN_EQUIPMENT_GNSS_FIX2_MODE_SINGLE;
pkt.sub_mode = UAVCAN_EQUIPMENT_GNSS_FIX2_SUB_MODE_DGPS_OTHER;
break;
case AP_GPS::GPS_Status::GPS_OK_FIX_2D:
pkt.status = UAVCAN_EQUIPMENT_GNSS_FIX2_STATUS_2D_FIX;
pkt.mode = UAVCAN_EQUIPMENT_GNSS_FIX2_MODE_SINGLE;
pkt.sub_mode = UAVCAN_EQUIPMENT_GNSS_FIX2_SUB_MODE_DGPS_OTHER;
break;
case AP_GPS::GPS_Status::GPS_OK_FIX_3D:
pkt.status = UAVCAN_EQUIPMENT_GNSS_FIX2_STATUS_3D_FIX;
pkt.mode = UAVCAN_EQUIPMENT_GNSS_FIX2_MODE_SINGLE;
pkt.sub_mode = UAVCAN_EQUIPMENT_GNSS_FIX2_SUB_MODE_DGPS_OTHER;
break;
case AP_GPS::GPS_Status::GPS_OK_FIX_3D_DGPS:
pkt.status = UAVCAN_EQUIPMENT_GNSS_FIX2_STATUS_3D_FIX;
pkt.mode = UAVCAN_EQUIPMENT_GNSS_FIX2_MODE_DGPS;
pkt.sub_mode = UAVCAN_EQUIPMENT_GNSS_FIX2_SUB_MODE_DGPS_SBAS;
break;
case AP_GPS::GPS_Status::GPS_OK_FIX_3D_RTK_FLOAT:
pkt.status = UAVCAN_EQUIPMENT_GNSS_FIX2_STATUS_3D_FIX;
pkt.mode = UAVCAN_EQUIPMENT_GNSS_FIX2_MODE_RTK;
pkt.sub_mode = UAVCAN_EQUIPMENT_GNSS_FIX2_SUB_MODE_RTK_FLOAT;
break;
case AP_GPS::GPS_Status::GPS_OK_FIX_3D_RTK_FIXED:
pkt.status = UAVCAN_EQUIPMENT_GNSS_FIX2_STATUS_3D_FIX;
pkt.mode = UAVCAN_EQUIPMENT_GNSS_FIX2_MODE_RTK;
pkt.sub_mode = UAVCAN_EQUIPMENT_GNSS_FIX2_SUB_MODE_RTK_FIXED;
break;
}
float cov[6] {};
pkt.covariance.data = &cov[0];
pkt.covariance.len = 6;
float hacc;
if (gps.horizontal_accuracy(hacc)) {
cov[0] = cov[1] = sq(hacc);
}
float vacc;
if (gps.vertical_accuracy(vacc)) {
cov[2] = sq(vacc);
}
float sacc;
if (gps.speed_accuracy(sacc)) {
float vc3 = sq(sacc);
cov[3] = cov[4] = cov[5] = vc3;
}
for (uint8_t i=0; i<6; i++) {
fix_float16(cov[i]);
}
uint8_t buffer[UAVCAN_EQUIPMENT_GNSS_FIX2_MAX_SIZE];
uint16_t total_size = uavcan_equipment_gnss_Fix2_encode(&pkt, buffer);
canardBroadcast(&canard,
UAVCAN_EQUIPMENT_GNSS_FIX2_SIGNATURE,
UAVCAN_EQUIPMENT_GNSS_FIX2_ID,
&transfer_id,
CANARD_TRANSFER_PRIORITY_LOW,
&buffer[0],
total_size);
}
/* /*
send aux packet send aux packet
*/ */