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AP_GPS: implement GPS*_RTK mavlink messages

This commit is contained in:
Dr.-Ing. Amilcar Do Carmo Lucas 2017-07-19 14:12:04 +02:00 committed by Francisco Ferreira
parent 91b6404b13
commit bf6778277e
2 changed files with 50 additions and 0 deletions
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8
libraries/AP_GPS/AP_GPS.h
View File

@ -149,8 +149,16 @@ public:
uint32_t last_gps_time_ms; ///< the system time we got the last GPS timestamp, milliseconds
// all the following fields must only all be filled by RTK capable backend drivers
uint32_t rtk_time_week_ms; ///< GPS Time of Week of last baseline in milliseconds
uint16_t rtk_week_number; ///< GPS Week Number of last baseline
uint32_t rtk_age_ms; ///< GPS age of last baseline correction in milliseconds (0 when no corrections, 0xFFFFFFFF indicates overflow)
uint8_t rtk_num_sats; ///< Current number of satellites used for RTK calculation
uint8_t rtk_baseline_coords_type; ///< Coordinate system of baseline. 0 == ECEF, 1 == NED
int32_t rtk_baseline_x_mm; ///< Current baseline in ECEF x or NED north component in mm
int32_t rtk_baseline_y_mm; ///< Current baseline in ECEF y or NED east component in mm
int32_t rtk_baseline_z_mm; ///< Current baseline in ECEF z or NED down component in mm
uint32_t rtk_accuracy; ///< Current estimate of 3D baseline accuracy (receiver dependent, typical 0 to 9999)
int32_t rtk_iar_num_hypotheses; ///< Current number of integer ambiguity hypotheses
};
/// Startup initialisation.

42
libraries/AP_GPS/GPS_Backend.cpp
View File

@ -184,3 +184,45 @@ bool AP_GPS_Backend::should_df_log() const
}
return true;
}
void AP_GPS_Backend::send_mavlink_gps_rtk(mavlink_channel_t chan)
{
const uint8_t instance = state.instance;
// send status
switch (instance) {
case 0:
mavlink_msg_gps_rtk_send(chan,
0, // Not implemented yet
0, // Not implemented yet
state.rtk_week_number,
state.rtk_time_week_ms,
0, // Not implemented yet
0, // Not implemented yet
state.rtk_num_sats,
state.rtk_baseline_coords_type,
state.rtk_baseline_x_mm,
state.rtk_baseline_y_mm,
state.rtk_baseline_z_mm,
state.rtk_accuracy,
state.rtk_iar_num_hypotheses);
break;
case 1:
mavlink_msg_gps2_rtk_send(chan,
0, // Not implemented yet
0, // Not implemented yet
state.rtk_week_number,
state.rtk_time_week_ms,
0, // Not implemented yet
0, // Not implemented yet
state.rtk_num_sats,
state.rtk_baseline_coords_type,
state.rtk_baseline_x_mm,
state.rtk_baseline_y_mm,
state.rtk_baseline_z_mm,
state.rtk_accuracy,
state.rtk_iar_num_hypotheses);
break;
}
}