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811 Commits

Author SHA1 Message Date
Andrew Tridgell
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
Andrew Tridgell
e40c570615 AP_GPS: faster config of moving baseline 
thanks to MdB for suggestion
 2020-01-07 12:37:35 +11:00
Andrew Tridgell
e660532f67 AP_GPS: fixes from PR review 2020-01-07 12:37:35 +11:00
Andrew Tridgell
41289fe945 AP_GPS: adjust lag for MB RTK ublox 
rover will lag by about 40ms
 2020-01-07 12:37:35 +11:00
Andrew Tridgell
b86c43aa66 AP_GPS: prefer RTK MB rover when it has yaw available 
this ensures that yaw data is time aligned with position and velocity
data
 2020-01-07 12:37:35 +11:00
Andrew Tridgell
261465ef96 AP_GPS: split out update_primary() from update() 
this makes the selection of primary GPS a lot clearer, with less
nesting of if statements
 2020-01-07 12:37:35 +11:00
Andrew Tridgell
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
Andrew Tridgell
71a0f3a1dc AP_GPS: added RTCMv3 parser 
will be used for moving baseline support
 2020-01-07 12:37:35 +11:00
Andrew Tridgell
6efbc484fd AP_GPS: cope with UAVCAN GPS that don't provide Aux message 
thanks to @VadimZ for the suggestion
 2019-12-05 15:48:51 -07:00
Michael du Breuil
8ca6535661 AP_GPS: Log SBF commanded disarms 2019-11-20 11:06:16 -07:00
Michael du Breuil
f8808022b8 AP_GPS: Check the driver logging health 2019-11-20 11:06:16 -07:00
Andrew Tridgell
379e3d60a1 AP_GPS: fixed sizes of config items 2019-11-16 15:28:52 +11:00
Michael du Breuil
63a6a1084c AP_GPS: UBlox: Fix the assumption that all keys are 1 byte keys 2019-11-16 15:28:52 +11:00
Michael du Breuil
150a4edcf2 AP_GPS: UBlox fix not listing the time mode as a configuration reason 2019-11-16 15:28:52 +11:00
Andrew Tridgell
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
Andrew Tridgell
8aa781206d AP_GPS: fixed signed/unsigned comparisons 2019-11-09 17:11:32 +11:00
Andrew Tridgell
b7c9391619 AP_GPS: support Fix2 message for UAVCAN 
this allows for RTK fix levels
 2019-11-09 17:11:32 +11:00
Andrew Tridgell
632114d687 AP_GPS: support RTCMStream for RTCM injection on UAVCAN 2019-11-09 17:11:32 +11:00
Andrew Tridgell
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
Michael du Breuil
d623da0de6 AP_GPS: Always send GPS2_RAW after we've seen the second GPS 
This significantly improves the GCS's ability to correctly display whats
happening with the second GPS.
 2019-11-02 10:35:08 +11:00
Michael du Breuil
5bafd7d72c AP_GPS: Don't defeat the GCS message interval code 2019-10-28 00:26:28 -07:00
Andrew Tridgell
14cdac9202 AP_GPS: fixed GPS to UART mapping 
this allows for first GPS as UAVCAN and 2nd as UART. That is not
possible currently unless you waste a uart
 2019-10-24 14:37:30 +11:00
Andrew Tridgell
00260db65a AP_GPS: fixed UAVCAN GPS status when disconnected 
this fixes the status reported for a UAVCAN GPS when the cable is
unplugged. It should be "NO GPS", but was instead reporting "NO
FIX". The user had no way to distinguish between not finding a CAN GPS
at all and it not getting satellites

thanks to CUAV for reporting
 2019-10-14 19:08:37 -06:00
Andrew Tridgell
37fb028532 AP_GPS: improved checking for valid yaw for moving baseline 
and fixed check for carrSolnFixed
 2019-10-15 11:06:11 +11:00
Michael du Breuil
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
Andrew Tridgell
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
Andrew Tridgell
9eb6c1be64 AP_GPS: use jitter correction on GPS_INPUT data 
this allows for more accurate timing when using GPS_INPUT for indoor
positioning systems
 2019-09-17 09:17:04 +10:00
Michael du Breuil
f857eb4640 AP_GPS: Take responsibility for logging the GPS if the EKF wants logging 2019-09-10 09:09:17 +10:00
Michael du Breuil
ca0dad9a7f AP_GPS: Directly include needed headers 2019-08-28 13:13:03 +10:00
Andrew Tridgell
291d72601b AP_GPS: enabled reduced size for AP_Periph support 2019-08-27 10:29:56 +10:00
Peter Barker
8c21a279ea AP_GPS: examples: var_info is now in GCS_MAVLINK_Parameters 2019-08-14 18:25:43 +10:00
Andrew Tridgell
8d7262994b AP_GPS: support yaw in GPS_INPUT mavlink GPS 
useful for Vicon setups
 2019-08-12 10:25:40 +10:00
murata
e4455491aa AP_GPS: Use common hexadecimal character to number conversion method 2019-08-06 10:14:12 +10:00
Peter Barker
46ad04aab7 AP_GPS: correct format string warnings in SBF driver 2019-08-05 11:20:35 +10:00
Andrew Tridgell
be9c98db12 AP_GPS: ensure we have full timestamp before setting RTC clock 
thanks to Martin Sollie for this bug report
 2019-07-31 20:13:55 +10:00
Michael du Breuil
d33006a2e7 AP_GPS: Refactor first_unconfigured_gps to return bool 2019-07-30 10:12:43 +10:00
Randy Mackay
64637dba8f AP_GPS: resolve gcs::send_text compiler warning 2019-07-30 09:02:39 +09:00
Peter Barker
678c11f048 AP_GPS: supply format string to send_text 2019-07-26 10:54:41 +10:00
Pierre Kancir
13ac187fd8 AP_GPS: pass mavlink_message_t by const reference 2019-07-16 20:51:42 +10:00
Grant Morphett
64ed76326b AP_GPS: Adding support for the NMEA GPHDT sentence 
The NMEA GPHDT sentence can be used to determine the vehicles bearing
instead of a compass even when the vehicle is stationary.  This type
of GPS is normally very expensive and does the bearing using some sort
of phase ambituity algorithm.
 2019-07-13 11:05:57 +10:00
Andrew Tridgell
5bfb6ced84 AP_GPS: fixed u-blox F9 auto configuration 2019-07-05 13:31:40 +10:00
Michael du Breuil
eed710db5f AP_GPS: Fix a lot of unneded example includes 2019-06-18 10:02:05 +10:00
Peter Barker
73c81519da AP_GPS: fix missing-declaration warning in example 2019-06-04 10:25:15 +10:00
Michael Oborne
6031f5b6a9 AP_GPS_UBLOX: add support for TIMEGPS message. used to get gps week 2019-05-29 09:48:17 +10:00
Andrew Tridgell
9f5a598697 AP_GPS: removed unusued AP_Common/Semaphore.h 2019-05-15 15:33:48 +10:00
Michael du Breuil
7871040bb6 AP_GPS: Pass an in range value for the param initilizer 2019-05-13 15:46:38 +10:00
Pierre Kancir
deb6aafcbe AP_GPS: fix GPS_AUTO_test 2019-05-01 14:17:34 -07:00
Michael du Breuil
e6d97f63a5 AP_GPS: Remove unneeded wrappers 2019-04-26 08:07:19 +10:00
Michael du Breuil
cc679db55b AP_GPS: Log reciever status to GPS SD card 
This improves log analysis of bad GPS health messages when you have a
report of bad GPS health but lost the MAVLink message, or didn't have
access to the autopilot log with the information for some reason.
 2019-04-14 13:24:36 -07:00
Michael du Breuil
32c583bd20 AP_GPS: Remove external event from GPS data stream 
If the event pin floats, this can lead to UART congestion, causing the
EKF to reject the GPS data, and the vehicle will drift around the sky in
a most disturbing manner
 2019-04-14 13:24:36 -07:00