Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
37,696 Commits 71 Branches 509 Tags 716 MiB
Commit Graph

765 Commits

Author SHA1 Message Date
Michael du Breuil cca6b54921 AP_GPS: Remove unneeded field limitations 
Saves ~1100 bytes of flash
 2018-08-01 09:19:20 +10:00
Michael du Breuil fcb1c4cdfd AP_GPS: Remove unused ADC include 2018-07-17 09:29:50 +10:00
Alexander Remizov dc15cbd513 AP_GPS: fixed ublox configuration 2018-06-24 15:25:00 -07:00
Andrew Tridgell 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
Peter Barker 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
Eugene Shamaev 9985d4a937 AP_GPS: uniform naming 2018-06-09 22:46:48 -07:00
Eugene Shamaev 9f27a65f4b AP_GPS: helper func 2018-06-09 22:46:48 -07:00
Eugene Shamaev a805b3ce18 AP_GPS: reducing indenting by linearizing the logic 2018-06-09 22:46:48 -07:00
Andrew Tridgell 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
Francisco Ferreira 5fc7da0e83 AP_GPS: remove Qualcomm board support 2018-05-17 09:57:20 +10:00
Michael du Breuil 53c66106d6 AP_GPS: Remove unneeded intilizers 
saves 160 bytes on make px4-v2
 2018-05-16 20:34:00 +10:00
Dr.-Ing. Amilcar do Carmo Lucas 9b9932ca9c AP_GPS: Document septentrio RXERROR flags 2018-05-06 20:32:39 -06:00
Andrew Tridgell 4e1d310959 AP_GPS: fixed use of pow() 2018-05-07 11:43:23 +10:00
Andrew Tridgell 53d36c02ae AP_GPS: enable double precision maths where needed 2018-05-07 11:43:23 +10:00
Michael du Breuil 88ea7ac5fa AP_GPS: Remove software check from SBF driver 2018-05-06 14:52:04 -06:00
Michael du Breuil b1a3e0a537 AP_GPS: Report when SBF errors change 2018-04-24 12:32:35 -07:00
Peter Barker 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
Patrick José Pereira 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
Michael du Breuil 362fb470c4 AP_GPS: Allow HIL_GPS to flag vertical velocity 
Closes #7997
 2018-04-10 17:01:21 +01:00
Michael du Breuil a21eb12f9e AP_GPS: Correct HIL_GPS altitude conversion 2018-04-02 20:21:20 -07:00
Peter Barker 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
chobits ea1a6b2044 AP_GPS: set have_vertical_velocity if MAVLink GPS report it 2018-03-01 14:31:56 -07:00
Tom Pittenger 793f50808d AP_GPS: add param defaults for EMLID_EDGE for GPS_TYPE=9 2018-02-13 15:29:53 +11:00
Michael du Breuil 9e37e9ee82 AP_GPS: Remove unused blending function. 
Thanks to ender-chen for noticing, closes #7510
 2018-01-09 12:52:32 -08:00
Dr.-Ing. Amilcar Do Carmo Lucas 479d4be3fd AP_GPS: Add horizontal, vertical and speed accuracy to the GPS_RAW_INT message 2018-01-09 13:01:05 +11:00
Andrew Tridgell 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
Dr.-Ing. Amilcar Do Carmo Lucas 9b2e48ce10 AP_GPS: Improve comments (NFC) 2017-12-05 10:44:58 +09:00
Peter Barker 47f8ed7fab AP_GPS: set GPS_SAVE_CFG default to save GPS config as required 2017-11-29 00:58:43 -07:00
Andrew Tridgell 9677d570e9 AP_GPS: faster GPS lock 
use 9600 and 115200 first
 2017-11-29 00:58:43 -07:00
Peter Barker 693823ae0d AP_GPS: add gps() to AP:: namespace 2017-11-15 13:43:03 +00:00
Michael du Breuil 236e74c529 AP_GPS: Singleton 2017-11-06 01:33:57 +00:00
Michael du Breuil 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
Dr.-Ing. Amilcar Do Carmo Lucas 68828511cd AP_GPS: Only send GPS*_RTK mavlink messages if the backend supports them 2017-10-30 18:28:20 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas 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
Dr.-Ing. Amilcar Do Carmo Lucas c0dd7984ad AP_GPS: Publish information on the GPS*_RTK mavlink messages 2017-10-30 18:28:20 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas bf6778277e AP_GPS: implement GPS*_RTK mavlink messages 2017-10-30 18:28:20 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas 430b863f42 AP_GPS: Replace hardcoded duplicated end_mavlink_gps*_rtk() function with a flexible one 2017-10-30 18:28:20 +00:00
Michael du Breuil b0e18de576 AP_GPS: Remove detect helpers for MTK/SIRF when minimizing the build 
Removes 16 bytes
 2017-10-22 03:03:29 +01:00
Michael du Breuil 0300f86913 AP_GPS: u-blox: Log unconfigured messages 2017-10-06 12:53:32 +01:00
Michael du Breuil 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
Michael du Breuil 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
Michael du Breuil bfbec02736 AP_GPS: SBF track the GPS error bits 2017-09-27 19:29:32 +01:00
Michael du Breuil 0d522663b2 AP_GPS: SBF: fix the PVTMode to support PPK (and baseline) units 2017-09-27 19:29:32 +01:00
Michael du Breuil 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
Michael du Breuil 20988b9f05 AP_GPS: SBF respect GPS_AUTO_CONFIG 2017-09-27 19:29:32 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas 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
Dr.-Ing. Amilcar Do Carmo Lucas 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
Dr.-Ing. Amilcar Do Carmo Lucas 175b7c5389 AP_GPS: spellcheck in coment (NFC) 2017-09-26 23:15:10 -07:00
Lucas De Marchi b05610870c global: use static method to construct AP_Rally 2017-09-26 03:01:21 +01:00
Lucas De Marchi 69b6d95cb2 global: use static method to construct AP_Board_Config{,_CAN} 2017-09-26 03:01:21 +01:00
Lucas De Marchi 72fd2d6f05 global: use static method to construct AP_SerialManager 2017-09-26 03:01:21 +01:00
Lucas De Marchi 8094482f21 global: use static method to construct AP_GPS 2017-09-26 03:01:21 +01:00
Lucas De Marchi 2cb2727a31 AP_GPS: add static create method 2017-09-26 03:01:21 +01:00
chobitsfan 02cfe9128d AP_GPS: parse RTK status in NMEA GGA message 2017-09-15 22:33:47 +01:00
Michael du Breuil 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
Dr.-Ing. Amilcar Do Carmo Lucas 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
Dr.-Ing. Amilcar Do Carmo Lucas e03826890a AP_GPS: Fix typo in comment 2017-09-13 14:22:57 -07:00
Michael du Breuil 04eb7f411e AP_GPS: Track the delta time between the last GPS positions 2017-09-13 13:36:40 +01:00
Michael du Breuil be371e09f9 AP_GPS: SBF: Reject short packets early, allow 256 byte long messages to be decoded 2017-09-06 10:41:36 +10:00
Andrew Tridgell 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
Lucas De Marchi b62e8909c4 AP_GPS: add missing fallthrough 2017-09-01 13:45:22 -07:00
Lucas De Marchi 3414883f05 AP_GPS: remove tabs and fix coding style 2017-08-22 23:59:13 -07:00
Lucas De Marchi 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
Peter Barker 7f59279670 AP_GPS: make time_epoch_usec const 2017-07-28 14:27:53 +01:00
Peter Barker e7ff5107fb AP_GPS: tidy mavlink message handling using switch statement 2017-07-27 12:03:25 +01:00
Peter Barker 2ad453fc89 AP_GPS: handle inject packets as part of handle_msg 2017-07-27 12:03:25 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas 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
Dr.-Ing. Amilcar Do Carmo Lucas 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
Dr.-Ing. Amilcar Do Carmo Lucas 059c213d19 AP_GPS: Improve comments and documentation (NFC) 2017-07-19 20:42:23 +09:00
Michael du Breuil 5684a5dd36 AP_GPS: Only setup state's instance field during init 2017-07-18 21:21:50 +01:00
Andrew Tridgell 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
Peter Barker 76847a2487 AP_GPS: eliminate GCS_MAVLINK::send_statustext_all 2017-07-11 23:53:53 +01:00
Michael du Breuil 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
Eugene Shamaev 5341e51f45 AP_GPS: support for multiple instances on different interfaces 2017-07-03 11:44:32 +01:00
Peter Barker cbe9627bf5 AP_GPS: correct example 2017-06-29 15:43:38 +01:00
Peter Barker 7258cfd20b AP_GPS: check dataflash to see if we should log backend gps messages 2017-06-29 15:43:38 +01:00
Francisco Ferreira 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
ebethon 005dbf41a7 AP_GPS: Add SBP EXT_EVENT Message to dataflash log 2017-06-29 15:18:05 +01:00
ebethon 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
Rob Ratcliff 60c6f8ad60 AP_GPS: fix bug when injecting messages bigger than 255 bytes 
Commit 5261654 changed the used injection method so change this method signature to use uint16 for message length like previous injection method did
 2017-06-27 03:06:26 +01:00
Michael du Breuil 249849dfa4 AP_GPS: Add an enum for _auto_config 2017-06-21 11:44:45 +01:00
Michael du Breuil 5f8633e322 AP_GPS: Allow backends to report their lag confidences 2017-06-21 11:44:45 +01:00
priseborough 5dcfc94371 AP_GPS: Add validity boolean to GPS lag reporting 2017-06-21 11:44:45 +01:00
priseborough bd0229b7bc AP_GPS: Fix bug in calculation of blended GPS delay 2017-06-21 11:44:45 +01:00
Michael du Breuil 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
Michael du Breuil ffe701bda3 AP_GPS: Use a static assert to check that the init blob is small enough 2017-05-31 14:39:53 +01:00
Michael du Breuil 1877d09f7c AP_GPS: Don't track detection time to broadcast baud rate 2017-05-30 23:37:59 +01:00
Michael du Breuil 84598544fb AP_GPS: Don't autodetect NMEA instances 2017-05-30 23:37:59 +01:00
Michael du Breuil a1479c4138 AP_GPS: SBF report driver lag 2017-05-26 17:42:15 +01:00
Michael du Breuil 3da3ad05bf AP_GPS: SBF report velocity accuracy 2017-05-26 17:42:15 +01:00
Michael du Breuil 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
Michael du Breuil 397ae00526 AP_GPS: SBF report VDOP 2017-05-24 20:03:29 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas 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
Peter Barker e9ce3aa0ce AP_GPS: use HAL_SEMAPHORE_BLOCK_FOREVER macro 2017-05-08 10:23:03 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas e31ac00f26 AP_GPS: fix spelling in comments 2017-05-08 10:08:31 +09:00
Andrew Tridgell 3687b6bdf0 AP_GPS: rename macros to avoid conflicts 
these macros were also defined in NuttX in clock.h
 2017-05-06 15:21:14 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas 1691a39b36 AP_GPS: spell in comments 2017-05-03 08:45:08 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 5b67b33310 AP_GPS: Remove un-used AP_GPS::inject_data_all() function 2017-05-01 13:06:18 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas 5261654756 AP_GPS: Only inject RTCM data to the selected GPS device defined in GPS_INJECT_TO parameter 2017-05-01 13:06:18 +01:00
Michael du Breuil 12f83ecf75 AP_GPS: SBF if RAW_DATA is enabled check that the GPS is succeeding at logging 2017-05-01 13:04:52 +01:00