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AP_GPS: support GPS_RTK and GPS2_RTK messages in Emlid reach modules. Requires Reach FW >= 2.7.4

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Dr.-Ing. Amilcar Do Carmo Lucas 2017-07-05 18:53:55 +02:00 committed by Francisco Ferreira
parent c0dd7984ad
commit e0c2a45eec
2 changed files with 29 additions and 0 deletions
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17
libraries/AP_GPS/AP_GPS_ERB.cpp
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@ -209,6 +209,23 @@ AP_GPS_ERB::_parse_gps(void)
state.speed_accuracy = _buffer.vel.speed_accuracy * 0.01f;
_new_speed = true;
break;
case MSG_RTK:
Debug("Message RTK");
state.rtk_baseline_coords_type = RTK_BASELINE_COORDINATE_SYSTEM_NED;
state.rtk_num_sats = _buffer.rtk.base_num_sats;
if (_buffer.rtk.age_cs == 0xFFFF) {
state.rtk_age_ms = 0xFFFFFFFF;
} else {
state.rtk_age_ms = _buffer.rtk.age_cs * 10;
}
state.rtk_baseline_x_mm = _buffer.rtk.baseline_N_mm;
state.rtk_baseline_y_mm = _buffer.rtk.baseline_E_mm;
state.rtk_baseline_z_mm = _buffer.rtk.baseline_D_mm;
state.rtk_accuracy = _buffer.rtk.ar_ratio;
state.rtk_week_number = _buffer.rtk.base_week_number;
state.rtk_time_week_ms = _buffer.rtk.base_time_week_ms;
break;
default:
Debug("Unexpected message 0x%02x", (unsigned)_msg_id);
return false;

12
libraries/AP_GPS/AP_GPS_ERB.h
View File

@ -83,6 +83,16 @@ private:
int32_t heading_2d; ///< Heading of motion 2-D [1e5 deg]
uint32_t speed_accuracy; ///< Speed accuracy Estimate [cm/s]
};
struct PACKED erb_rtk {
uint8_t base_num_sats; ///< Current number of satellites used for RTK calculation
uint16_t age_cs; ///< Age of the corrections in centiseconds (0 when no corrections, 0xFFFF indicates overflow)
int32_t baseline_N_mm; ///< distance between base and rover along the north axis in millimeters
int32_t baseline_E_mm; ///< distance between base and rover along the east axis in millimeters
int32_t baseline_D_mm; ///< distance between base and rover along the down axis in millimeters
uint16_t ar_ratio; ///< AR ratio multiplied by 10
uint16_t base_week_number; ///< GPS Week Number of last baseline
uint32_t base_time_week_ms; ///< GPS Time of Week of last baseline in milliseconds
};
// Receive buffer
union PACKED {
@ -92,6 +102,7 @@ private:
erb_stat stat;
erb_dops dops;
erb_vel vel;
erb_rtk rtk;
} _buffer;
enum erb_protocol_bytes {
@ -102,6 +113,7 @@ private:
MSG_STAT = 0x03,
MSG_DOPS = 0x04,
MSG_VEL = 0x05,
MSG_RTK = 0x07,
};
enum erb_fix_type {