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AP_GPS: improve support for uBlox-M10 

this sets up the M10 to use the BaiDou B1C signal instead of B1, and
disables glonass. This is needed to get a consistent 5Hz lock
This commit is contained in:
Andrew Tridgell 2022-11-21 14:33:46 +11:00
parent 33349ed92a
commit b12cd48843
3 changed files with 112 additions and 26 deletions
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8
libraries/AP_GPS/AP_GPS.cpp
View File

@ -2054,6 +2054,13 @@ bool AP_GPS::is_healthy(uint8_t instance) const
return false;
}
#ifdef HAL_BUILD_AP_PERIPH
/*
on AP_Periph handling of timing is done by the flight controller
receiving the DroneCAN messages
*/
return drivers[instance] != nullptr && drivers[instance]->is_healthy();
#else
/*
allow two lost frames before declaring the GPS unhealthy, but
require the average frame rate to be close to 5Hz. We allow for
@ -2075,6 +2082,7 @@ bool AP_GPS::is_healthy(uint8_t instance) const
return delay_ok && drivers[instance] != nullptr &&
drivers[instance]->is_healthy();
#endif // HAL_BUILD_AP_PERIPH
}
bool AP_GPS::prepare_for_arming(void) {

64
libraries/AP_GPS/AP_GPS_UBLOX.cpp
View File

@ -224,6 +224,22 @@ const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_MB_Rover_uart2[] {
};
#endif // GPS_MOVING_BASELINE
/*
config changes for M10
we need to use B1C not B1 signal for Beidou on M10 to allow solid 5Hz,
and also disable Glonass and enable QZSS
*/
const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_M10[] {
{ ConfigKey::CFG_SIGNAL_BDS_ENA, 1},
{ ConfigKey::CFG_SIGNAL_BDS_B1_ENA, 0},
{ ConfigKey::CFG_SIGNAL_BDS_B1C_ENA, 1},
{ ConfigKey::CFG_SIGNAL_GLO_ENA, 0},
{ ConfigKey::CFG_SIGNAL_QZSS_ENA, 1},
{ ConfigKey::CFG_SIGNAL_QZSS_L1CA_ENA, 1},
{ ConfigKey::CFG_SIGNAL_QZSS_L1S_ENA, 1},
{ ConfigKey::CFG_NAVSPG_DYNMODEL, 8}, // Air < 4g
};
void
AP_GPS_UBLOX::_request_next_config(void)
@ -406,6 +422,19 @@ AP_GPS_UBLOX::_request_next_config(void)
_unconfigured_messages &= ~CONFIG_TIM_TM2;
#endif
break;
case STEP_M10: {
// special handling of M10 config
const config_list *list = config_M10;
const uint8_t list_length = ARRAY_SIZE(config_M10);
Debug("Sending M10 settings");
if (!_configure_config_set(list, list_length, CONFIG_M10, UBX_VALSET_LAYER_RAM | UBX_VALSET_LAYER_BBR)) {
_next_message--;
}
break;
}
default:
// this case should never be reached, do a full reset if it is hit
_next_message = STEP_PVT;
@ -1175,26 +1204,27 @@ AP_GPS_UBLOX::_parse_gps(void)
default:
break;
}
#if GPS_MOVING_BASELINE
// see if it is in active config list
int8_t cfg_idx = find_active_config_index(id);
if (cfg_idx >= 0) {
const uint8_t key_size = config_key_size(id);
if (cfg_len < key_size ||
memcmp(&active_config.list[cfg_idx].value, cfg_data, key_size) != 0) {
_configure_valset(id, &active_config.list[cfg_idx].value);
_configure_valset(id, &active_config.list[cfg_idx].value, active_config.layers);
_unconfigured_messages |= active_config.unconfig_bit;
active_config.done_mask &= ~(1U << cfg_idx);
_cfg_needs_save = true;
} else {
active_config.done_mask |= (1U << cfg_idx);
Debug("done %u mask=0x%x",
unsigned(cfg_idx),
unsigned(active_config.done_mask));
if (active_config.done_mask == (1U<<active_config.count)-1) {
// all done!
_unconfigured_messages &= ~active_config.unconfig_bit;
}
}
}
#endif // GPS_MOVING_BASELINE
// step over the value
uint8_t step_size = config_key_size(id);
@ -1245,8 +1275,13 @@ AP_GPS_UBLOX::_parse_gps(void)
_hardware_generation = UBLOX_M9;
}
}
// none of the 9 series support the SOL message
_unconfigured_messages &= ~CONFIG_RATE_SOL;
// check for M10
if (strncmp(_version.hwVersion, "000A0000", 8) == 0) {
if (strncmp(_version.swVersion, "ROM SPG 5", 9) == 0) {
_hardware_generation = UBLOX_M10;
_unconfigured_messages |= CONFIG_M10;
}
}
break;
default:
unexpected_message();
@ -1722,10 +1757,10 @@ AP_GPS_UBLOX::_configure_message_rate(uint8_t msg_class, uint8_t msg_id, uint8_t
}
/*
* configure F9 based key/value pair - VALSET
* configure F9/M10 based key/value pair - VALSET
*/
bool
AP_GPS_UBLOX::_configure_valset(ConfigKey key, const void *value)
AP_GPS_UBLOX::_configure_valset(ConfigKey key, const void *value, uint8_t layers)
{
if (!supports_F9_config()) {
return false;
@ -1737,7 +1772,7 @@ AP_GPS_UBLOX::_configure_valset(ConfigKey key, const void *value)
return false;
}
msg.version = 1;
msg.layers = 7; // all layers
msg.layers = layers;
msg.transaction = 0;
msg.key = uint32_t(key);
memcpy(buf, &msg, sizeof(msg));
@ -1772,13 +1807,13 @@ AP_GPS_UBLOX::_configure_valget(ConfigKey key)
* configure F9 based key/value pair for a complete config list
*/
bool
AP_GPS_UBLOX::_configure_config_set(const config_list *list, uint8_t count, uint32_t unconfig_bit)
AP_GPS_UBLOX::_configure_config_set(const config_list *list, uint8_t count, uint32_t unconfig_bit, uint8_t layers)
{
#if GPS_MOVING_BASELINE
active_config.list = list;
active_config.count = count;
active_config.done_mask = 0;
active_config.unconfig_bit = unconfig_bit;
active_config.layers = layers;
uint8_t buf[sizeof(ubx_cfg_valget)+count*sizeof(ConfigKey)];
struct ubx_cfg_valget msg {};
@ -1792,9 +1827,6 @@ AP_GPS_UBLOX::_configure_config_set(const config_list *list, uint8_t count, uint
memcpy(&buf[sizeof(msg)+i*sizeof(ConfigKey)], &list[i].key, sizeof(ConfigKey));
}
return _send_message(CLASS_CFG, MSG_CFG_VALGET, buf, sizeof(buf));
#else
return false;
#endif
}
/*
@ -1914,7 +1946,8 @@ static const char *reasons[] = {"navigation rate",
"TIMEGPS rate",
"Time mode settings",
"RTK MB",
"TIM TM2"};
"TIM TM2",
"M10"};
static_assert((1 << ARRAY_SIZE(reasons)) == CONFIG_LAST, "UBLOX: Missing configuration description");
@ -1953,6 +1986,7 @@ bool AP_GPS_UBLOX::get_lag(float &lag_sec) const
break;
case UBLOX_F9:
case UBLOX_M9:
case UBLOX_M10:
// F9 lag not verified yet from flight log, but likely to be at least
// as good as M8
lag_sec = 0.12f;
@ -2039,7 +2073,7 @@ bool AP_GPS_UBLOX::is_healthy(void) const
// return true if GPS is capable of F9 config
bool AP_GPS_UBLOX::supports_F9_config(void) const
{
return _hardware_generation == UBLOX_F9 && _hardware_generation != UBLOX_UNKNOWN_HARDWARE_GENERATION;
return _hardware_generation == UBLOX_F9 || _hardware_generation == UBLOX_M10;
}
#endif

66
libraries/AP_GPS/AP_GPS_UBLOX.h
View File

@ -97,7 +97,8 @@
#define CONFIG_TMODE_MODE (1<<16)
#define CONFIG_RTK_MOVBASE (1<<17)
#define CONFIG_TIM_TM2 (1<<18)
#define CONFIG_LAST (1<<19) // this must always be the last bit
#define CONFIG_M10 (1<<19)
#define CONFIG_LAST (1<<20) // this must always be the last bit
#define CONFIG_REQUIRED_INITIAL (CONFIG_RATE_NAV | CONFIG_RATE_POSLLH | CONFIG_RATE_STATUS | CONFIG_RATE_VELNED)
@ -281,7 +282,45 @@ private:
MSGOUT_RTCM_3X_TYPE1127_UART2 = 0x209102d8,
MSGOUT_RTCM_3X_TYPE1230_UART2 = 0x20910305,
MSGOUT_UBX_NAV_RELPOSNED_UART2 = 0x2091008f,
// enable specific signals and constellations
CFG_SIGNAL_GPS_ENA = 0x1031001f,
CFG_SIGNAL_GPS_L1CA_ENA = 0x10310001,
CFG_SIGNAL_GPS_L2C_ENA = 0x10310003,
CFG_SIGNAL_GPS_L5_ENA = 0x10310004,
CFG_SIGNAL_SBAS_ENA = 0x10310020,
CFG_SIGNAL_SBAS_L1CA_ENA = 0x10310005,
CFG_SIGNAL_GAL_ENA = 0x10310021,
CFG_SIGNAL_GAL_E1_ENA = 0x10310007,
CFG_SIGNAL_GAL_E5A_ENA = 0x10310009,
CFG_SIGNAL_GAL_E5B_ENA = 0x1031000a,
CFG_SIGNAL_BDS_ENA = 0x10310022,
CFG_SIGNAL_BDS_B1_ENA = 0x1031000d,
CFG_SIGNAL_BDS_B1C_ENA = 0x1031000f,
CFG_SIGNAL_BDS_B2_ENA = 0x1031000e,
CFG_SIGNAL_BDS_B2A_ENA = 0x10310028,
CFG_SIGNAL_QZSS_ENA = 0x10310024,
CFG_SIGNAL_QZSS_L1CA_ENA = 0x10310012,
CFG_SIGNAL_QZSS_L1S_ENA = 0x10310014,
CFG_SIGNAL_QZSS_L2C_ENA = 0x10310015,
CFG_SIGNAL_QZSS_L5_ENA = 0x10310017,
CFG_SIGNAL_GLO_ENA = 0x10310025,
CFG_SIGNAL_GLO_L1_ENA = 0x10310018,
CFG_SIGNAL_GLO_L2_ENA = 0x1031001a,
CFG_SIGNAL_NAVIC_ENA = 0x10310026,
CFG_SIGNAL_NAVIC_L5_ENA = 0x1031001d,
// other keys
CFG_NAVSPG_DYNMODEL = 0x20110021,
};
// layers for VALSET
#define UBX_VALSET_LAYER_RAM 0x1U
#define UBX_VALSET_LAYER_BBR 0x2U
#define UBX_VALSET_LAYER_FLASH 0x4U
#define UBX_VALSET_LAYER_ALL 0x7U
struct PACKED ubx_cfg_valset {
uint8_t version;
uint8_t layers;
@ -658,6 +697,7 @@ private:
UBLOX_M8,
UBLOX_F9 = 0x80, // comes from MON_VER hwVersion/swVersion strings
UBLOX_M9 = 0x81, // comes from MON_VER hwVersion/swVersion strings
UBLOX_M10 = 0x82,
UBLOX_UNKNOWN_HARDWARE_GENERATION = 0xff // not in the ublox spec used for
// flagging state in the driver
};
@ -685,6 +725,7 @@ private:
STEP_VERSION,
STEP_RTK_MOVBASE, // setup moving baseline
STEP_TIM_TM2,
STEP_M10,
STEP_LAST
};
@ -740,7 +781,7 @@ private:
bool havePvtMsg;
bool _configure_message_rate(uint8_t msg_class, uint8_t msg_id, uint8_t rate);
bool _configure_valset(ConfigKey key, const void *value);
bool _configure_valset(ConfigKey key, const void *value, uint8_t layers=UBX_VALSET_LAYER_ALL);
bool _configure_valget(ConfigKey key);
void _configure_rate(void);
void _configure_sbas(bool enable);
@ -782,7 +823,7 @@ private:
// configure a set of config key/value pairs. The unconfig_bit corresponds to
// a bit in _unconfigured_messages
bool _configure_config_set(const config_list *list, uint8_t count, uint32_t unconfig_bit);
bool _configure_config_set(const config_list *list, uint8_t count, uint32_t unconfig_bit, uint8_t layers=UBX_VALSET_LAYER_ALL);
// find index in active_config list
int8_t find_active_config_index(ConfigKey key) const;
@ -796,6 +837,15 @@ private:
void set_pps_desired_freq(uint8_t freq) override;
#endif
// status of active configuration for a role
struct {
const config_list *list;
uint8_t count;
uint32_t done_mask;
uint32_t unconfig_bit;
uint8_t layers;
} active_config;
#if GPS_MOVING_BASELINE
// config for moving baseline base
static const config_list config_MB_Base_uart1[];
@ -805,17 +855,11 @@ private:
static const config_list config_MB_Rover_uart1[];
static const config_list config_MB_Rover_uart2[];
// status of active configuration for a role
struct {
const config_list *list;
uint8_t count;
uint32_t done_mask;
uint32_t unconfig_bit;
} active_config;
// RTCM3 parser for when in moving baseline base mode
RTCM3_Parser *rtcm3_parser;
#endif // GPS_MOVING_BASELINE
static const config_list config_M10[];
};
#endif