e59f32074d
AP_GPS: fixed yaw error when one GPS has zero position
...
the M_PI correction was only valid for one zero side. Much simpler to
always calculate difference
2020-01-24 11:46:40 +11:00
db777c56b9
AP_GPS: provide yaw feedback in GPS_RAW_INT and GPS2_RAW
...
allow GPS to display status of GPS yaw for moving baseline and NMEA
2020-01-07 12:37:35 +11:00
e40c570615
AP_GPS: faster config of moving baseline
...
thanks to MdB for suggestion
2020-01-07 12:37:35 +11:00
e660532f67
AP_GPS: fixes from PR review
2020-01-07 12:37:35 +11:00
41289fe945
AP_GPS: adjust lag for MB RTK ublox
...
rover will lag by about 40ms
2020-01-07 12:37:35 +11:00
93aaf98672
AP_GPS: added automatic u-blox moving baseline configuration
...
this uses GPS_TYPE and GPS_TYPE2 to setup two u-blox F9 receivers in a
RTK moving baseline configuration
2020-01-07 12:37:35 +11:00
379e3d60a1
AP_GPS: fixed sizes of config items
2019-11-16 15:28:52 +11:00
63a6a1084c
AP_GPS: UBlox: Fix the assumption that all keys are 1 byte keys
2019-11-16 15:28:52 +11:00
150a4edcf2
AP_GPS: UBlox fix not listing the time mode as a configuration reason
2019-11-16 15:28:52 +11:00
7bec9d87b4
AP_GPS: fixed TMODE config issue on non-F9 GPS
...
thanks to Michel Pastor for reporting this
2019-11-16 15:28:52 +11:00
8aa781206d
AP_GPS: fixed signed/unsigned comparisons
2019-11-09 17:11:32 +11:00
6c31fb1bb6
AP_GPS: added automatic config of TMODE on F9
...
the Drotek F9 GPS ships with TMODE enabled, which means we don't get a
3D fix.
This also adds the VALGET/VALSET msgs we will need for automatic
moving baseline config
2019-11-09 17:11:32 +11:00
37fb028532
AP_GPS: improved checking for valid yaw for moving baseline
...
and fixed check for carrSolnFixed
2019-10-15 11:06:11 +11:00
2587b13ae7
AP_GPS: UBLOX: Parse RELPOSNED messages
...
This does not yet:
- validate the receiver configuration
- manage timing out stale GPS heading info
- relPosNormalized usage isn't clear, which may defeat the STRICT_LENGTH_CHECK
2019-10-15 11:06:11 +11:00
b5217412f9
AP_GPS: fixed a bug in handling corrupt u-blox packets
...
when we have corrupt input due to loss of bytes on a UART we can end
up with a u-blox packet with zero payload bytes. When that happens we
need to bypass payload reading as otherwise we will end up keeping
reading bytes until the driver resets at 4 seconds, causing a GPS
outage.
This was causing GPS outages every few hours in copters running 3.6.7,
and was also reproduced in SITL using SIM_GPS_BYTELOSS.
2019-09-30 15:20:30 -06:00
291d72601b
AP_GPS: enabled reduced size for AP_Periph support
2019-08-27 10:29:56 +10:00
64637dba8f
AP_GPS: resolve gcs::send_text compiler warning
2019-07-30 09:02:39 +09:00
5bfb6ced84
AP_GPS: fixed u-blox F9 auto configuration
2019-07-05 13:31:40 +10:00
6031f5b6a9
AP_GPS_UBLOX: add support for TIMEGPS message. used to get gps week
2019-05-29 09:48:17 +10:00
833bc8f12a
AP_GPS: Ensure that all ublox configuration failure reasons have a description
2019-04-02 08:15:59 +11:00
12c3446777
AP_GPS: rename dataflash to logger
2019-03-28 16:40:57 +11:00
6fc76a32af
GLOBAL: use AP::logger() and strip redundant Log_ from methods
2019-01-18 18:08:20 +11:00
b47733142f
GLOBAL: rename DataFlash_Class to AP_Logger
2019-01-18 18:08:20 +11:00
978cea97cf
AP_GPS: whitespace and typo fixes
2019-01-05 08:45:24 +09:00
d761b24b92
AP_GPS: optionally configure a hardware PPS pin for uBlox
...
useful for testing time lag estimation
2018-12-04 11:37:38 +11:00
2eae4901c1
AP_GPS: look for iTow on uBlox MSG_STATUS
2018-12-04 11:37:38 +11:00
df68d6413c
AP_GPS: moved iTow handling to GPS_Backend
2018-12-04 11:37:38 +11:00
3fe4b9c0f8
AP_GPS: make GPS packet timestamps more accurate
...
this reduces the effect of processing time and uart transmit time
2018-12-04 11:37:38 +11:00
dc15cbd513
AP_GPS: fixed ublox configuration
2018-06-24 15:25:00 -07:00
dc2a776985
AP_GPS: fixed fake ublox 3D lock PVT speed accuracy
...
allows EKF to startup fully with fake GPS lock
2018-06-06 07:15:41 +10:00
53c66106d6
AP_GPS: Remove unneeded intilizers
...
saves 160 bytes on make px4-v2
2018-05-16 20:34:00 +10:00
0300f86913
AP_GPS: u-blox: Log unconfigured messages
2017-10-06 12:53:32 +01:00
8389158d76
AP_GPS: use FALLTHROUGH define
...
When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
2017-08-22 23:59:13 -07:00
76847a2487
AP_GPS: eliminate GCS_MAVLINK::send_statustext_all
2017-07-11 23:53:53 +01:00
7258cfd20b
AP_GPS: check dataflash to see if we should log backend gps messages
2017-06-29 15:43:38 +01:00
249849dfa4
AP_GPS: Add an enum for _auto_config
2017-06-21 11:44:45 +01:00
5f8633e322
AP_GPS: Allow backends to report their lag confidences
2017-06-21 11:44:45 +01:00
1ba59b446c
AP_GPS: log ublox sw and hw versions on dataflash log start
...
This burns 41 bytes of RAM for each u-Blox GPS.
2017-04-23 21:04:17 +01:00
94a5e94ec9
AP_GPS: canonicalise statustext messages
...
Use "GPS %d" prefix, where %d is instance+1, to correspond
with parameters
2017-04-23 09:09:30 +10:00
6f297deaf7
AP_GPS: Unify inject_data interface for all classes
2017-04-19 02:05:51 +01:00
81b20e971b
AP_GPS_UBLOX: use get_rate_ms accessor
2017-03-13 11:31:51 +11:00
e764f0d5d0
AP_GPS: sanity check update rate
...
Also minor spelling and parameter documentation fix
2017-03-13 11:31:51 +11:00
7b483a1460
AP_GPS: Ublox, always quickly set the rates until we have fetched the version
2017-02-23 07:33:58 +11:00
3ce7e4b322
AP_GPS: fixed fake uBlox with PVT message support
2017-02-21 06:09:33 +11:00
5d18f3a453
AP_GPS: added backend specific get_lag() function
...
the ublox7 and 8 seem to produce lower lag, around 120ms. Separately
we should also look at running these at 10Hz and see if that helps.
2017-01-27 16:57:42 +09:00
855d91145a
AP_GPS: ublox - fix incorrect step ordering
2017-01-25 03:44:57 +00:00
1c1e6e9398
AP_GPS: Support more fix types
2017-01-25 03:44:42 +00:00
d05b0d5885
AP_GPS_UBLOX: add pvt message support
2017-01-25 03:34:26 +00:00
d97861d685
AP_GPS: Ublox: Skip SBAS request if we don't want to alter it
2016-11-21 14:15:19 +09:00
c808ee2f49
Global: To nullptr from NULL.
...
RC_Channel: To nullptr from NULL.
AC_Fence: To nullptr from NULL.
AC_Avoidance: To nullptr from NULL.
AC_PrecLand: To nullptr from NULL.
DataFlash: To nullptr from NULL.
SITL: To nullptr from NULL.
GCS_MAVLink: To nullptr from NULL.
DataFlash: To nullptr from NULL.
AP_Compass: To nullptr from NULL.
Global: To nullptr from NULL.
Global: To nullptr from NULL.
2016-11-02 16:04:47 -02:00
152edf7189
Global: remove mode line from headers
...
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
2016-10-24 09:42:01 -02:00
9caf44b494
AP_GPS: update drivers for changed inject_data() API
...
need 16 bit length
2016-10-11 11:00:35 +11:00
cf5e79f80e
AP_GPS: ublox support user controlled rate updates
...
Also corrects accepting bad nav rates as configured, and fixes a incorrect
index as to which GPS is being updated
2016-10-11 10:44:51 +11:00
86c2b1d84a
AP_GPS: u-blox Remove 5Hz warning
...
The warnings test case is better covered by the rest of the driver
while it is performing the normal settings audit.
2016-10-11 10:44:51 +11:00
174cefa8a5
AP_GPS: use ARRAY_SUBSCRIPT instead of bytes field
...
That fixed compilation issues and seems more semantically correct. Using array
of length 0 fails compilation because of -Werror=array-bounds in GCC 6.1.
2016-06-23 21:02:05 -03:00
4047fb63fc
AP_GPS: Fix typos
2016-05-13 19:20:06 -03:00
41661f815f
AP_Math: Replace the pythagorous* functions with a variadic template
...
The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
2016-05-10 11:41:26 -03:00
428923b4b1
AP_GPS: use 3D velocity for uBlox
...
this makes uBlox use the 3D velocity for ground course and speed,
ensuring we use a consistent value everywhere (so same vector in EKF
as in navigation)
2016-05-07 18:27:23 +10:00
b424c49bc7
AP_GPS: change ground course to be in degrees
...
more accuracy for replay
2016-05-07 18:27:21 +10:00
2538c17ee0
AP_GPS: add fetching of gps configuration failure reasons
2016-04-13 11:24:01 -03:00
92106a944f
AP_GPS_UBLOX: add data injection support
2016-03-18 15:51:32 +11:00
04bac8a446
AP_GPS: removed duplicate dataflash write of ublox version
2016-02-24 14:26:57 +11:00
18163bd01f
AP_GPS_UBLOX: save cfg only when needed
...
added GPS_SAVE_CFG param option 2
2016-02-12 15:33:18 -08:00
55e64b3622
AP_GPS: u-blox: copy paste typo in a #else
2016-02-12 15:33:08 -08:00
217a06322b
AP_GPS: u-blox: don't throw 5hz update warnings if no fix
...
5hz update warnings are only valid if you have a fix, without a fix it adds load
to the GPS without any benefit. Our _5hz time messages are depenend upon GPS fix
time which isn't available yet
2016-02-12 15:32:41 -08:00
4251ee0e4b
AP_GPS: u-blox verify ublox settings
...
The ublox driver will now continuosly poll for the settings from the GPS and correct any that are found to be in correct.
This status is then reported to the arming library as an additional arming check, allowing the user to be sure that the
gps is correctly configured before using it. If a user has a GPS2 configured that is not present they will fail the arming
checks until after they have disabled the second GPS.
2 new parameters were introduced as well:
-GPS_AUTO_CONFIG: Will not request any configuration packets to attempt to change them. (If the packet is recieved then
a update will be sent to it, but in testing this scenario never occured. This is set to 1 or 0 to change the setting.
(Defaults to 1 enabling auto config)
-GPS_GNSS_MODE2: Behaves the same way as GPS_GNSS_MODE but only applies to the second GPS.
GPS drivers are now allowed 2 seconds of non responsiveness before being unloaded
2016-02-12 00:37:04 -08:00
ede7ffedfc
AP_GPS: correct #if from UBLOX_DEBUG to UBLOX_DEBUGGING
2016-01-30 12:48:39 -02:00
800c142ac0
BH: Support UBLOX GPS M8N
2015-12-21 15:54:30 +11:00
c33b86a783
AP_GPS: use millis/micros/panic functions
2015-11-20 12:30:48 +09:00
36c0beb918
GPS_UBlox: reorder init to resolve compiler warning
...
Also removed duplicate init of noReceivedHdop
2015-11-16 15:09:17 +09:00
5e2382ea09
AP_GPS:UBLOX: send save cfg msg once per 5s and 5 times only
2015-11-10 15:16:55 +11:00
360c09f9bd
AP_GPS_UBLOX: send cfg save msg only once every 1 second
2015-11-10 15:16:55 +11:00
bc708f9808
AP_GPS: add SAVE_CFG parameter make ublox config saving optional
2015-11-10 15:16:55 +11:00
e82df48631
AP_GPS: save configuration to non-volatile memory in UBlox GPS
2015-11-10 15:16:55 +11:00
20c6ffc5e3
Replace use of UARTDriver::printf_P() with UARTDriver::printf()
...
This also starts to show warnings on places that were already using
wrong printf format strings.
2015-10-30 14:35:25 +09:00
2c38e31c93
Remove use of PSTR
...
The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.
This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.
AVR-specific places were not changed.
2015-10-30 14:35:04 +09:00
75c0644b9a
AP_GPS: Use state.instance instead of trying to track instance numbers inside of the ublox driver
2015-09-23 20:42:42 -07:00
5adb6d2b89
AP_GPS: Support UBX messages for dual UBLOX GPS setups.
...
Add extra DOP information to UBX precision messages.
2015-09-23 20:41:50 -07:00
6fbe88ba3a
AP_GPS: improved fake ublox to give enough for EKF health
2015-09-14 11:36:15 +10:00
d07d2f3a46
AP_GPS: removed UBX3 message
...
replaced by GPA and GPA2 messages
2015-09-09 15:01:45 +10:00
0e3a188f6f
AP_GPS: Read the vdop information from a ublox GPS
2015-09-09 11:38:12 +10:00
2c7a113790
AP_GPS: ensure all GPS drivers give headings as 0..360 degrees
...
this prevents inconsistency between interfaces, and fixes a MAVLink
reporting bug with UAVCAN GPS
2015-08-31 08:24:35 +10:00
816d1f0e1b
AP_GPS: resolve compiler warning re init order
2015-08-25 13:51:33 +09:00
4f9fbc5aa7
AP_GPS: Fix a bound error when calculating GNSS minimum channels.
...
This is really just calculating the hamming weight of the GNSS_MODE bitmask, but I don't know if the APM compiler could handle the GCC intrinsic that could calculate it faster, and this is done so rarely there isn't a significant penalty to using the for loop.
2015-08-13 15:15:20 +10:00
67db430583
AP_GPS: standardize inclusion of libaries headers
...
This commit changes the way libraries headers are included in source files:
- If the header is in the same directory the source belongs to, so the
notation '#include ""' is used with the path relative to the directory
containing the source.
- If the header is outside the directory containing the source, then we use
the notation '#include <>' with the path relative to libraries folder.
Some of the advantages of such approach:
- Only one search path for libraries headers.
- OSs like Windows may have a better lookup time.
2015-08-11 16:28:43 +10:00
c29b19f768
AP_GPS: Fix a typo on spelling received
2015-08-08 13:22:04 +09:00
bc26eaab63
AP_GPS: Ublox: fall back to the DOP if hDOP hasn't come in yet
...
Provides a stable fallback, and can be considered fairly safe from the perspective that it provides a worse value then the hDOP under almost all scenarios.
2015-08-07 21:21:48 +10:00
087e729748
AP_GPS: re-enable SBAS config on APM2 for uBlox
2015-07-30 11:04:31 +10:00
b6beeb6f2f
AP_GPS: save some memory and code space on APM2 for ublox
...
don't include structures we don't need for low end CPUs
2015-07-30 08:46:20 +10:00
5c9d248407
AP_GPS: Fix copy/paste error in ublox (uncovered by coverity)
2015-07-28 18:01:02 +09:00
09fef505e0
AP_GPS: With a ublox driver, accept a packet if it will fit in the buffer
2015-07-22 21:31:10 +10:00
22b16b4532
AP_GPS: Enable selecting what GNSS system to use if the reciever supports it
...
Ublox 7 and 8 seires use a UBX-CFG-GNSS message to enable satellite constellations. The default value does not enable any additional ones, and any constellations the reciever doesn't report knowing about are not configured.
2015-07-22 21:31:10 +10:00
47592a1953
AP_GPS: Raise the baud rate on a ublox GPS if using RAW logging
...
the implementation leaves an easy path forward for providing a different startup blob for all the GPS's if raw logging is enabled
2015-07-22 21:31:09 +10:00
7d2fe3cc2b
AP_GPS_UBlox: remove unused member
2015-07-14 15:02:15 +09:00
2c33250bee
AP_GPS_UBlox: send_next_rate_update always runs all steps
...
Moving the if, endif checks within the case statement ensures the state
machine goes through all 10 states
2015-07-14 15:02:13 +09:00
4b015d2091
AP_GPS: remove compiler warnings
2015-07-14 15:02:10 +09:00
df3a04e284
AP_GPS: reduce fake Ublox hdop to 130
2015-07-14 15:02:08 +09:00
5ccc58ffb4
AP_GPS: Read actual hDOP value from UBLOX messages
...
Before we were reading the position DOP and calling it hDOP. Since the
other drivers actualy read hDOP it seem best to do the same.
Fixes issue 462.
2015-07-14 15:02:03 +09:00
a382ce2b0c
AP_GPS: Add support for logging ublox RXM-RAWX messages
...
Can only record 32 satellites raw info before memory corruption occurs. (And raised the limit on normal RXM-RAW messages to 22)
2015-06-30 09:05:49 +10:00
38a8a772f8
AP_GPS: Add fix status 3D+DGPS
2015-06-30 09:00:31 +10:00
Andrew Tridgell
Michael du Breuil
Randy Mackay
Michael Oborne
Tom Pittenger
Peter Barker
Arjun Vinod
Alexander Remizov
Lucas De Marchi
murata
Mathieu OTHACEHE
Michael du Breuil
Gustavo Jose de Sousa
Ricardo de Almeida Gonzaga
dgrat
Aaron Wang Shi
Caio Marcelo de Oliveira Filho
Siddharth Bharat Purohit
Jonathan Challinger
Andy Piper
mirkix