7885b267f0
AP_GPS: fix UAVCAN gps message handlers
2018-09-05 17:23:14 +10:00
70e587b572
AP_GPS: Fix accidental quantization to float on SBF logging
2018-08-31 01:16:31 +01:00
ca54123b7d
AP_GPS: move UAVCAN GPS related code to AP_GPS_UAVCAN backend
2018-08-29 22:54:59 +01:00
10ffd89a0c
AP_GPS: Remove unused operation
...
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
2018-08-27 23:35:34 +01:00
9c97f35b19
AP_GPS: Use GPS_AUTO_SWITCH parameter to choose exacly which GPS to use
2018-08-26 01:05:09 -07:00
b29369eb82
AP_GPS: adapt to changes in AP_BoardConfig_CAN
2018-08-12 13:35:03 +01:00
1a406dacfc
AP_GPS: Ensure a lag value is always provided
...
The value may not be the optimal value for the driver, but we should
always try to provide a value for the caller
2018-08-07 09:55:26 +10:00
cca6b54921
AP_GPS: Remove unneeded field limitations
...
Saves ~1100 bytes of flash
2018-08-01 09:19:20 +10:00
fcb1c4cdfd
AP_GPS: Remove unused ADC include
2018-07-17 09:29:50 +10:00
dc15cbd513
AP_GPS: fixed ublox configuration
2018-06-24 15:25:00 -07:00
796291f176
AP_GPS: improved ccache build speed
...
making this header equal improves speed of fmuv2 build after fmuv3
build with ccache, without affecting binary
2018-06-22 11:13:03 +10:00
5b41db5120
AP_GPS: use AP_RTC
...
set the system time from a GPS if we have a 3D fix or better
2018-06-15 08:01:22 +10:00
9985d4a937
AP_GPS: uniform naming
2018-06-09 22:46:48 -07:00
9f27a65f4b
AP_GPS: helper func
2018-06-09 22:46:48 -07:00
a805b3ce18
AP_GPS: reducing indenting by linearizing the logic
2018-06-09 22:46:48 -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
5fc7da0e83
AP_GPS: remove Qualcomm board support
2018-05-17 09:57:20 +10:00
53c66106d6
AP_GPS: Remove unneeded intilizers
...
saves 160 bytes on make px4-v2
2018-05-16 20:34:00 +10:00
9b9932ca9c
AP_GPS: Document septentrio RXERROR flags
2018-05-06 20:32:39 -06:00
4e1d310959
AP_GPS: fixed use of pow()
2018-05-07 11:43:23 +10:00
53d36c02ae
AP_GPS: enable double precision maths where needed
2018-05-07 11:43:23 +10:00
88ea7ac5fa
AP_GPS: Remove software check from SBF driver
2018-05-06 14:52:04 -06:00
b1a3e0a537
AP_GPS: Report when SBF errors change
2018-04-24 12:32:35 -07:00
643e7e039a
AP_GPS: log received data
...
Also log a set of flag values if a driver is deleted
2018-04-18 13:50:55 +09:00
a255c47c33
AP_GPS: Do not restart driver if type is defined as MAV
...
Fix bluerobotics/ardusub#104
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
2018-04-16 17:08:39 -07:00
362fb470c4
AP_GPS: Allow HIL_GPS to flag vertical velocity
...
Closes #7997
2018-04-10 17:01:21 +01:00
a21eb12f9e
AP_GPS: Correct HIL_GPS altitude conversion
2018-04-02 20:21:20 -07:00
816045c1ab
AP_GPS: correct compiler warnings
...
In file included from ../../libraries/AP_GPS/AP_GPS_SBF.cpp:22:
../../libraries/AP_GPS/AP_GPS_SBF.h:75:14: warning: private field
'last_injected_data_ms' is not used [-Wunused-private-field]
uint32_t last_injected_data_ms = 0;
^
../../libraries/AP_GPS/AP_GPS_SBF.h:210:7: warning: private field
'RxError_bits' is not used [-Wunused-private-field]
} RxError_bits;
2018-03-02 09:26:37 +09:00
ea1a6b2044
AP_GPS: set have_vertical_velocity if MAVLink GPS report it
2018-03-01 14:31:56 -07:00
793f50808d
AP_GPS: add param defaults for EMLID_EDGE for GPS_TYPE=9
2018-02-13 15:29:53 +11:00
9e37e9ee82
AP_GPS: Remove unused blending function.
...
Thanks to ender-chen for noticing, closes #7510
2018-01-09 12:52:32 -08:00
479d4be3fd
AP_GPS: Add horizontal, vertical and speed accuracy to the GPS_RAW_INT message
2018-01-09 13:01:05 +11:00
d2c9e2719e
AP_GPS: removed create() method for objects
...
See discussion here:
https://github.com/ArduPilot/ardupilot/issues/7331
we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach
Thanks to assistance from Lucas, Peter and Francisco
2017-12-14 08:12:28 +11:00
9b2e48ce10
AP_GPS: Improve comments (NFC)
2017-12-05 10:44:58 +09:00
47f8ed7fab
AP_GPS: set GPS_SAVE_CFG default to save GPS config as required
2017-11-29 00:58:43 -07:00
9677d570e9
AP_GPS: faster GPS lock
...
use 9600 and 115200 first
2017-11-29 00:58:43 -07:00
693823ae0d
AP_GPS: add gps() to AP:: namespace
2017-11-15 13:43:03 +00:00
236e74c529
AP_GPS: Singleton
2017-11-06 01:33:57 +00:00
c856cc6f33
AP_GPS: Allow GPS's to run functions on arming (used by SBF)
...
Supports starting/stopping GPS logging
2017-11-06 01:33:57 +00:00
68828511cd
AP_GPS: Only send GPS*_RTK mavlink messages if the backend supports them
2017-10-30 18:28:20 +00:00
e0c2a45eec
AP_GPS: support GPS_RTK and GPS2_RTK messages in Emlid reach modules. Requires Reach FW >= 2.7.4
2017-10-30 18:28:20 +00:00
c0dd7984ad
AP_GPS: Publish information on the GPS*_RTK mavlink messages
2017-10-30 18:28:20 +00:00
bf6778277e
AP_GPS: implement GPS*_RTK mavlink messages
2017-10-30 18:28:20 +00:00
430b863f42
AP_GPS: Replace hardcoded duplicated end_mavlink_gps*_rtk() function with a flexible one
2017-10-30 18:28:20 +00:00
b0e18de576
AP_GPS: Remove detect helpers for MTK/SIRF when minimizing the build
...
Removes 16 bytes
2017-10-22 03:03:29 +01:00
0300f86913
AP_GPS: u-blox: Log unconfigured messages
2017-10-06 12:53:32 +01:00
3023fac4d0
AP_GPS: SBF enable comment block logging
...
This is intended to help with GCS's injecting custom data to the GPS
2017-09-27 19:29:32 +01:00
561acb372e
AP_GPS: SBF send port enable string on start
...
Also prohibts SBF, GSOF, NOVA drivers from getting config strings not
meant for them
2017-09-27 19:29:32 +01:00
bfbec02736
AP_GPS: SBF track the GPS error bits
2017-09-27 19:29:32 +01:00
0d522663b2
AP_GPS: SBF: fix the PVTMode to support PPK (and baseline) units
2017-09-27 19:29:32 +01:00
80b71b9ced
AP_GPS: SBF: Validate that configuration was accepted
...
Note: The config string of "spm, Rover, StandAlone+SBAS+DGPS+RTK\n" is
incompatible with AsteRx-M FW 3.6.3 and will result in refusing to
arm/pass configuration checks
2017-09-27 19:29:32 +01:00
20988b9f05
AP_GPS: SBF respect GPS_AUTO_CONFIG
2017-09-27 19:29:32 +01:00
09baac8f25
AP_GPS: Preserve the instance number, otherwise it will get set to zero
...
Signed-off-by: Dr.-Ing. Amilcar Do Carmo Lucas <amilcar.lucas@iav.de>
2017-09-26 23:15:10 -07:00
8b9fb19061
AP_GPS: Added const just to be explicit (NFC)
...
Signed-off-by: Dr.-Ing. Amilcar Do Carmo Lucas <amilcar.lucas@iav.de>
2017-09-26 23:15:10 -07:00
175b7c5389
AP_GPS: spellcheck in coment (NFC)
2017-09-26 23:15:10 -07:00
b05610870c
global: use static method to construct AP_Rally
2017-09-26 03:01:21 +01:00
69b6d95cb2
global: use static method to construct AP_Board_Config{,_CAN}
2017-09-26 03:01:21 +01:00
72fd2d6f05
global: use static method to construct AP_SerialManager
2017-09-26 03:01:21 +01:00
8094482f21
global: use static method to construct AP_GPS
2017-09-26 03:01:21 +01:00
2cb2727a31
AP_GPS: add static create method
2017-09-26 03:01:21 +01:00
02cfe9128d
AP_GPS: parse RTK status in NMEA GGA message
2017-09-15 22:33:47 +01:00
2f8f2ffd2d
AP_GPS: Remove NMEA init blobs for binary drivers
...
All of the init strings that were sent in the NMEA driver are for GPS protocols
which have binary drivers, which provide far more features and are more robust.
It also appears that due to driver changes the config strings for SIRF/UBLOX
were no longer correct anyways).
2017-09-15 14:30:48 -07:00
d3a18e803e
AP_GPS: Fix MAVLink message field SYSTEM_TIME.time_unix_usec when GPS_AUTO_SWITCH = blend
...
The mavlink message field SYSTEM_TIME.time_unix_usec works fine with GPS_AUTO_SWITCH == 0 (no switch) or ==1 (usebest)
But when GPS_AUTO_SWITCH == 2 (blend) then state[GPS_BLENDED_INSTANCE].last_gps_time_ms gets initialized with 0 and never rewritten.
The consequence: SYSTEM_TIME.time_unix_usec gets stuck at zero.
The solution: Do not reset state[GPS_BLENDED_INSTANCE].last_gps_time_ms because it would overwrite the correct value already set on line 1149
2017-09-14 12:38:30 +01:00
e03826890a
AP_GPS: Fix typo in comment
2017-09-13 14:22:57 -07:00
04eb7f411e
AP_GPS: Track the delta time between the last GPS positions
2017-09-13 13:36:40 +01:00
be371e09f9
AP_GPS: SBF: Reject short packets early, allow 256 byte long messages to be decoded
2017-09-06 10:41:36 +10:00
048dfee68a
AP_GPS: make SBF driver more robust
...
this fixes a crash bug in the SBF GPS driver where a badly formed packet
could cause crc16_ccitt to reference invalid memory
2017-09-06 10:41:33 +10:00
b62e8909c4
AP_GPS: add missing fallthrough
2017-09-01 13:45:22 -07:00
3414883f05
AP_GPS: remove tabs and fix coding style
2017-08-22 23:59:13 -07:00
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
7f59279670
AP_GPS: make time_epoch_usec const
2017-07-28 14:27:53 +01:00
e7ff5107fb
AP_GPS: tidy mavlink message handling using switch statement
2017-07-27 12:03:25 +01:00
2ad453fc89
AP_GPS: handle inject packets as part of handle_msg
2017-07-27 12:03:25 +01:00
b791fef7cb
AP_GPS: Publish the number of satellites in the RTK correction messages, and the age of the RTK correction messages
2017-07-19 20:42:23 +09:00
ae47ac5a09
AP_GPS: implement missing "RTK number of satellites" and "RTK correction age" information in the GPS2_RAW MAVLink message
2017-07-19 20:42:23 +09:00
059c213d19
AP_GPS: Improve comments and documentation (NFC)
2017-07-19 20:42:23 +09:00
5684a5dd36
AP_GPS: Only setup state's instance field during init
2017-07-18 21:21:50 +01:00
82e7e44cc3
AP_GPS: fixed UAVCAN as 2nd GPS
...
This fixes the issue here:
https://discuss.ardupilot.org/t/ac3-6-dev-dual-gps-issues/19172
thanks to Francisco for spotting the issue
this is tested with UAVCAN as 2nd GPS, ublox as primary
2017-07-18 18:57:55 +01:00
76847a2487
AP_GPS: eliminate GCS_MAVLINK::send_statustext_all
2017-07-11 23:53:53 +01:00
cb1b9b6674
AP_GPS: Fix SBF race condition on start
...
Unsure what the underlying problem is, but the length of the first string in
the initilisation_blob increasing resulted in a race condition, waiting
longer before retrying the message resolves it, but we still need to identify
the underlying problem. This patch just results in the GPS working with current
configurations. Tested against AsteRx-M firmware 3.6.3
2017-07-11 09:40:02 +09:00
5341e51f45
AP_GPS: support for multiple instances on different interfaces
2017-07-03 11:44:32 +01:00
cbe9627bf5
AP_GPS: correct example
2017-06-29 15:43:38 +01:00
7258cfd20b
AP_GPS: check dataflash to see if we should log backend gps messages
2017-06-29 15:43:38 +01:00
f35f0d59dd
AP_GPS: fix SBP2 driver build warnings by using memcpy
...
Build gave the following warnings:
../../libraries/AP_GPS/AP_GPS_SBP2.cpp: In member function ‘void AP_GPS_SBP2::_sbp_process_message()’:
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:181:78: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_heartbeat = *((struct sbp_heartbeat_t*)parser_state.msg_buff);
^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:181:28: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_heartbeat = *((struct sbp_heartbeat_t*)parser_state.msg_buff);
^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:186:76: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_gps_time = *((struct sbp_gps_time_t*)parser_state.msg_buff);
^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:186:27: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_gps_time = *((struct sbp_gps_time_t*)parser_state.msg_buff);
^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:190:74: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_vel_ned = *((struct sbp_vel_ned_t*)parser_state.msg_buff);
^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:190:26: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_vel_ned = *((struct sbp_vel_ned_t*)parser_state.msg_buff);
^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:194:74: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_pos_llh = *((struct sbp_pos_llh_t*)parser_state.msg_buff);
^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:194:26: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_pos_llh = *((struct sbp_pos_llh_t*)parser_state.msg_buff);
^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:198:68: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_dops = *((struct sbp_dops_t*)parser_state.msg_buff);
^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:198:23: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_dops = *((struct sbp_dops_t*)parser_state.msg_buff);
^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:202:74: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_event = *((struct sbp_ext_event_t*)parser_state.msg_buff);
^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:202:24: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_event = *((struct sbp_ext_event_t*)parser_state.msg_buff);
^
2017-06-29 15:18:09 +01:00
005dbf41a7
AP_GPS: Add SBP EXT_EVENT Message to dataflash log
2017-06-29 15:18:05 +01:00
4779a8f1f1
AP_GPS: Rename SBR1/SBR2 to SBRH/SBRM and change format
...
Add (sender_id, msg_len) in SBRM message
Add index/pages in SBRH/SBRM messages
Change format to integers to avoid GCS string parsing
Decrease data size in SBRH
2017-06-29 15:14:54 +01:00
60c6f8ad60
AP_GPS: fix bug when injecting messages bigger than 255 bytes
...
Commit 5261654
2017-06-27 03:06:26 +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
5dcfc94371
AP_GPS: Add validity boolean to GPS lag reporting
2017-06-21 11:44:45 +01:00
bd0229b7bc
AP_GPS: Fix bug in calculation of blended GPS delay
2017-06-21 11:44:45 +01:00
6c3db3939e
AP_GPS: Update comment on get_rate_ms()
...
AP_GPS::get_rate_ms() is only meant to help the GPS backends
2017-06-12 01:06:38 +01:00
ffe701bda3
AP_GPS: Use a static assert to check that the init blob is small enough
2017-05-31 14:39:53 +01:00
1877d09f7c
AP_GPS: Don't track detection time to broadcast baud rate
2017-05-30 23:37:59 +01:00
84598544fb
AP_GPS: Don't autodetect NMEA instances
2017-05-30 23:37:59 +01:00
a1479c4138
AP_GPS: SBF report driver lag
2017-05-26 17:42:15 +01:00
3da3ad05bf
AP_GPS: SBF report velocity accuracy
2017-05-26 17:42:15 +01:00
c7a89d5aa0
AP_GPS: Set unknown DOP's to UINT16_MAX, rather then 9999
...
This fixes the MAVLink reporting for unknown dops, and avoids the situation where a GPS driver could report a worse DOP then we could handle.
Also corrects an apparent error in the HIL_GPS MAVLink message, where we would always select the unknown dop value rather then provided DOP.
2017-05-25 11:03:33 -07:00
397ae00526
AP_GPS: SBF report VDOP
2017-05-24 20:03:29 +01:00
2d5033b132
AP_GPS: Use SI units conventions in parameter units
...
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
2017-05-17 18:07:25 +10:00
liang.tang
Michael du Breuil
Siddharth Purohit
Patrick José Pereira
Dr.-Ing. Amilcar do Carmo Lucas
Francisco Ferreira
Alexander Remizov
Andrew Tridgell
Peter Barker
Eugene Shamaev
chobits
Tom Pittenger
Lucas De Marchi
chobitsfan
ebethon
Rob Ratcliff
priseborough