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954 Commits

Author SHA1 Message Date
Andrew Tridgell 1ac8a6e67f AP_GPS: fixed build without logging 2022-06-17 14:07:00 +10:00
Andrew Tridgell 3ffc08ae91 AP_GPS: prevent switching to a dead GPS 
when we switch away from the blended GPS instance we need to ensure we
don't switch to a GPS that is timing out, and may be the instance that
is triggering the disable of blending
 2022-03-28 20:53:56 +11:00
bugobliterator 3598724378 AP_GPS: change time_epoch_convert to istate_time_to_epoch_ms 2022-02-03 06:45:35 +11:00
bugobliterator 244b8ed358 AP_GPS: change _last_itow to _last_itow_ms 2022-02-03 06:45:35 +11:00
bugobliterator d3d3c826f7 AP_GPS: set _last_itow alongside state.last_corrected_gps_time_us 2022-02-03 06:45:35 +11:00
bugobliterator e77bb74f9b AP_GPS: remove unnecessary multiply with 1000ULL in time_epoch_usec 2022-02-03 06:45:35 +11:00
Peter Barker 60b8277e1b AP_GPS: create and use AP_GPS_BACKEND_DEFAULT_ENABLED 
Allows for all backends to be set to off by default.
 2022-02-01 11:22:02 +11:00
Peter Barker c463036706 AP_GPS: write config blob out as chunk rather than iterating 2022-01-30 13:24:45 +11:00
bugobliterator 46294c0fba AP_GPS: sync pps rate with message rate 2022-01-20 17:26:35 +11:00
bugobliterator 49b767b24e AP_GPS: add support for correcting GPS times while using DroneCAN GPS 2022-01-20 17:26:35 +11:00
bugobliterator 49bf4fa27b AP_GPS: move to using last_corrected_gps_time_us instead of uart_timestamp_us 2022-01-20 17:26:35 +11:00
bugobliterator 9834304525 AP_GPS: make more precise calculation of gps message 
use PPS signal if available as well
 2022-01-20 17:26:35 +11:00
Peter Barker c5f21664db AP_GPS: correct compilation when SIRF disabled 2022-01-14 11:49:01 +11:00
Peter Barker 8d17b8dbe7 AP_GPS: use const structure for saving GPS config 2022-01-12 18:29:01 +11:00
Peter Barker 1943de9016 AP_GPS: tidy configuration of UBLOX rates 2022-01-12 18:29:01 +11:00
Hwurzburg 3d4f6cc2c4 AP_GPS: add build options for GPS backends 2022-01-12 16:17:21 +11:00
Andrew Tridgell 09cd7558c3 AP_GPS: drop default GPS lag to 0.1s 
this impacts UAVCAN GPS modules, which these days usually have at
least u-blox M8
 2022-01-12 07:54:46 +11:00
Andrew Tridgell 135c88d474 AP_GPS: use KSXT for position and alt when available 
this gets velocity and position from the same message for more
consistency
 2022-01-11 10:34:11 +11:00
Andrew Tridgell 9d21c0b6c1 AP_GPS: added GPS data logging system 
for debugging GPS protocols
 2022-01-11 10:34:11 +11:00
Andrew Tridgell 27cec48b82 AP_GPS: support KSXT message for Unicore NMEA 
this gives both yaw and 3D velocity
 2022-01-11 10:34:11 +11:00
Andrew Tridgell 3f160b4910 Revert "AP_GPS: drop default GPS lag to 0.1s" 
This reverts commit 1e60d2557b.
 2022-01-04 19:02:54 +00:00
Andrew Tridgell 1e60d2557b AP_GPS: drop default GPS lag to 0.1s 
this impacts UAVCAN GPS modules, which these days usually have at
least u-blox M8
 2022-01-03 16:39:07 -08:00
Jaaaky 6433547592 AP_GPS: Fix multi #include's 2021-12-21 10:38:46 +11:00
Hwurzburg 35cc90d117 AP_GPS: change UAVCAN in metadata to DroneCAN 2021-12-15 09:53:21 +11:00
Peter Barker 065cb2decb AP_GPS_UBLOX: tidy reading of uart data 
Neither of the return types used for data and numc were actually correct for the values being returned from the uartdriver functions.
 2021-11-09 10:31:25 +11:00
Michael du Breuil f08866639e AP_GPS: Novatel respect the auto config disable parameter 2021-11-09 10:05:26 +11:00
Michael du Breuil eedcb9aded AP_GPS: Isolate the header to be only set once 
Also wrap up some common whitespace issues
 2021-11-09 10:05:26 +11:00
Peter Barker 2dbe15911f AP_GPS: change empty constructors out for 'use AP_GPS_Backend::AP_GPS_Backend' 2021-10-23 15:05:28 +11:00
Peter Barker e88cd8498b AP_GPS: add note about GPS_LEAPSECONDS_MILLIS being copied 2021-10-21 12:09:21 +11:00
bugobliterator ae65f2e6ab AP_GPS: fix build and working with single GPS Receiver config 2021-09-30 21:53:07 +10:00
Peter Barker 068f91169c AP_GPS: remove mtk GPSs 
These are ancient and of very poor quality.
 2021-09-29 17:28:59 +10:00
Peter Barker da66ecf1f2 AP_GPS: move SBP logging structures into AP_GPS 2021-09-28 10:45:51 +10:00
Peter Barker 1ae8385a0f AP_GPS: correct GPS switching when GPS blending disabled 2021-09-28 09:08:50 +10:00
Peter Barker 6d615a3e16 AP_GPS: move from HAL_NO_GCS to HAL_GCS_ENABLED 2021-09-22 21:37:00 +10:00
bugobliterator f3fef657f9 AP_GPS: handle failure to allocation of GPS CAN message subscribers 2021-09-22 21:36:34 +10:00
Josh Henderson 06251335da AP_GPS: use vector.xy().length() instead of norm(x,y) 2021-09-14 10:43:46 +10:00
bugobliterator ddc50a8420 AP_GPS: add option to set a dedicated line for Moving Baseline Data 2021-08-19 14:20:58 +10:00
bugobliterator d32111b376 AP_GPS: fix handling of RTCM3 parser with user notification for bad cfg 2021-08-19 14:20:58 +10:00
bugobliterator 3b58463bfd AP_GPS: initialise uavcan drv interim_state with state structure at startup 2021-08-19 14:20:58 +10:00
bugobliterator 85d8becb8c AP_GPS: add support for auto config Moving Baseline for AP_Periph GPS 2021-08-19 14:20:58 +10:00
bugobliterator 9fc57e40b4 AP_GPS: add support for dual GPS heading using Periph GPSes 2021-08-19 14:20:58 +10:00
Andrew Tridgell 4f4a0a02f6 AP_GPS: added doc message for bit 2 of DRV_OPTIONS 2021-08-10 10:54:14 +10:00
Andrew Tridgell 1479566921 AP_GPS: added GPS_DRV_OPTIONS bit for forcing ublox GPS to 115200 
this may help with some GPS modules
 2021-08-10 10:54:14 +10:00
Peter Barker c9699d7ce4 AP_GPS: log GPS primary change event in GPS library 2021-08-06 15:30:18 +10:00
Andrew Tridgell f8e40eef00 AP_GPS: fixed printf format errors 2021-08-05 09:43:35 +10:00
Andrew Tridgell 9a262d19ed AP_GPS: mark log messages as streaming 2021-08-03 10:23:36 +10:00
Andrew Tridgell 0e7c2a27a6 AP_GPS: added arming checks for yaw available on ublox RTK rover 2021-07-30 06:51:21 +10:00
Andrew Tridgell e5d878eebd AP_GPS: change handling of moving baseline yaw 
this changes yaw handling in a few ways:

 - GPS yaw now has a timestamp associated with the yaw separate from
   the timestamp associated with the GPS fix

 - we no longer force the primary to change to the UBLOX MB rover when
   it has a GPS yaw. This means we don't change GPS primary due to GPS
   loss, which keeps the GPS more stable. It also increases accuracy
   as the rover is always less accurate in position and velocity than
   the base

 - now we force the primary to be the MB base if the other GPS is a
   rover and the base has GPS lock
 2021-07-21 17:59:49 +10:00
Siddharth Purohit c18652f35a AP_GPS: add option to enable configuring PPS pin in UBLOX driver 2021-07-02 08:50:16 +10:00
Peter Barker c0c3f92c39 AP_GPS: remove @Values from param metadata where @Bitmask exists 2021-06-23 18:37:34 +10:00