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906 Commits

Author SHA1 Message Date
Andrew Tridgell d7dea5c28c 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
 2021-07-22 19:07:36 +09:00
Peter Barker c0c3f92c39 AP_GPS: remove @Values from param metadata where @Bitmask exists 2021-06-23 18:37:34 +10:00
Peter Barker 9e5662e927 AP_GPS: remove HIL support 2021-06-15 09:47:31 +10:00
Peter Barker 15cd41ca19 AP_GPS: add support for AP_Logger into AP_Periph 2021-06-08 09:57:55 +10:00
Michael du Breuil 60e47b56f5 AP_GPS: Nova: Remove unneeded injection override 2021-05-25 10:07:05 +10:00
Andrew Tridgell 02feaaffcd AP_GPS: setup ublox moving baseline at 230400 when using uart2 
this avoids issues with needing DMA on the UARTs when using UART2 to
transport RTCMv3 data
 2021-05-21 08:49:25 +09:00
Peter Barker a61b6ebda8 AP_GPS: move from HAL_NO_LOGGING to HAL_LOGGING_ENABLED 2021-05-19 17:38:47 +10:00
Michael du Breuil 1288f4c81b AP_GPS: Support GPS_SBAS_MODE on SBF GPS units 
Also swaps to using an AP_Enum for the SBAS type, and fixes up the fact
that the prearm/failure reasons should be using the config step, rather
then the init blob index
 2021-05-18 09:52:07 +10:00
murata 747de2c28c AP_GPS: Change to STM32's faster processing operations 2021-05-12 06:49:03 +10:00
Andrew Tridgell 0cd97ce3d8 AP_GPS: fixed GPS yaw for GPS_INPUT mavlink 2021-05-11 17:45:46 +10:00
Peter Barker 30b9a7aeb4 AP_GPS: correct GPS_AUTO_SWITCH parameter description 2021-05-05 16:41:50 +10:00
Andrew Tridgell 7cc11e6856 AP_GPS: fixed handling of loss of GPS yaw 
when the GPS yaw data doesn't pass the internal tests of validity for
400ms we need to stop telling the EKF that we have valid yaw
 2021-05-04 10:37:15 +10:00
Andrew Tridgell de5da74df1 AP_GPS: fixed spelling of GLONASS 2021-04-29 13:01:09 +10:00
giacomo892 a245100ae6 AP_GPS_UBLOX: Fix GALILEO auto configuration 2021-04-29 13:01:09 +10:00
Andrew Tridgell dd86e0cc89 AP_GPS: added comment explaining the approach 2021-04-20 17:43:01 +10:00
Andrew Tridgell 8bc31ec5e9 AP_GPS: account for rotation rate in moving baseline Z test 
this avoids switching GPS on rapid roll/pitch
 2021-04-20 17:43:01 +10:00
Peter Barker a7e0c565dc AP_GPS: populate extension fields in GPS2_RAW 2021-04-20 11:46:35 +10:00
Philippe Hamelin 738d000f86 AP_GPS: Add NMEA THS message. 2021-04-14 17:20:28 +10:00
Andrew Tridgell 3650c02745 AP_GPS: use common nmea_printf() 2021-04-13 09:36:52 +10:00
murata 3a006ae226 AP_GPS: Supplementary explanation of configuration parameters (NFC) 2021-03-16 10:43:18 +11:00
Siddharth Purohit edceb4e3a4 AP_GPS: move underscore one layer down for GPS 2021-03-12 16:32:36 +09:00
bugobliterator 0031fee851 AP_GPS: add support for ordering UAVCAN GPS 2021-03-12 16:32:36 +09:00
Michael du Breuil a3ddf5264d AP_GPS: Support uavcan ardupilot.gnss.Status 
Also makes the drive by change to make GPS_Backend::is_configured const
 2021-03-12 09:39:55 +11:00
Michael du Breuil f227d67d58 AP_GPS: Remove unused enum 2021-03-03 10:00:15 +09:00
Peter Barker 9da9d8c94b AP_GPS: provide method for getting single char representing fix type 
Should allow us to be consistent across places in the code base that
need a compact representation for a user display.
 2021-02-18 08:59:23 +11:00
Peter Barker c2cba52ad8 AP_GPS: move gps logging structures into AP_GPS 2021-02-17 11:30:01 +11:00
Michael du Breuil 4c4e613f6a AP_GPS: Don't send SBF config unless there is free space in the port 2021-02-15 16:31:45 -07:00
Michael du Breuil 4d42996068 AP_GPS: Force the buadrate on SBF units 2021-02-15 16:31:45 -07:00
Michael du Breuil 5f3b1b92a4 AP_GPS: SBF don't send configuration until we've recieved a prompt 
This fixes a configuration problem with SBF unit's where sometimes we
fail to detect the GPS unit continously, until it's been manually
configured. This was tested by doing a hard reset to the GPS unit.

This also now accepts a set of defines from the hwdef, or build
environment, which allows us to specify extra config options.
 2021-02-05 11:52:29 -07:00
Michael du Breuil d9ffd04a96 AP_GPS: Broadcast the detect message on AP_Periph over CAN 2021-02-05 11:52:29 -07:00
Patrick José Pereira 6bdc1704f4 AP_GPS: Remove pointer check before delete 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-04 09:01:19 +11:00
Patrick José Pereira 2e75425a2a AP_GPS: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Michael du Breuil 0f363809f5 AP_GPS: Fix some unit errors with the GPS blended instance 
Also add a static assert and some docs on the fact that blending only
works with 2 actual recievers at the moment

Also a small optimization to not call get_rate_ms() twice
 2021-01-28 11:55:30 +11:00
Peter Barker d426d8e1f8 AP_GPS: use ground_course in preference to ground_course_cd 2021-01-26 10:22:28 +11:00
E Thomas 2ee052b36e AP_GPS: Made GPS_DISABLE prevent last_fix_time_ms updates 2021-01-23 17:25:00 +11:00
Michael Oborne d2720da4a2 AP_GPS: support yaw for UAVCAN GPS 2021-01-07 15:56:28 +11:00
Andrew Tridgell bf51478dd1 AP_GPS: added ExternalAHRS backend 2021-01-05 21:13:12 +11:00
Ari Krupnik 1d288316cc AP_GPS: standard spelling of variant 2020-12-25 00:01:50 +11:00
Andrew Tridgell e02047861a AP_GPS: convert to using hal.serial() instead of hal.uartX 2020-12-15 10:32:46 +11:00
Andrew Tridgell 1a4f094025 AP_GPS: allow hwdef override of default for GPS_COM_PORT 2020-12-06 16:48:08 +11:00
Andrew Tridgell 92bcc7667c AP_GPS: allow for SBF GPS on F3 AP_Periph 2020-12-06 16:48:08 +11:00
Andrew Tridgell 862ae59e28 AP_GPS: support $PHD message for AllyStay NMEA GPS 
this adds vertical velocity support
 2020-12-01 09:04:43 +11:00
Hwurzburg 7a82898e92 AP_GPS: expand gps rate description 2020-11-26 18:25:29 +11:00
Andrew Tridgell 05194ed8b6 AP_GPS: don't accept infinite accuracies for blending 
these result in NaN values for velocities
 2020-11-24 12:00:41 +11:00
Andrew Tridgell 83c479bcc2 AP_GPS: prevent UAVCAN GPS from giving infinite accuracy values 
this can happen due to the complex encodings of accuracies in UAVCAN
 2020-11-24 12:00:41 +11:00
Andrew Tridgell a762926526 AP_GPS: fixed constrained NaN in EKF3 caused by bad GPS blending 
if the accuracies reported are very low then we can do a division by
zero and this results in a constraining NaN for GPS vertical velocity
filter in NavEKF3_core::calcGpsGoodToAlign
 2020-11-24 12:00:41 +11:00
Peter Barker e257dd9fee AP_GPS: correct logging for GPS blending 2020-11-20 09:45:57 +11:00
Dr.-Ing. Amilcar do Carmo Lucas 58f0c34612 AP_GPS: fix dataflash logging of blended GPS instance 2020-11-20 09:45:57 +11:00
Peter Barker 428c9ef0e1 AP_GPS: correct logging in dual-ublox setups 2020-11-10 17:39:51 +11:00
Andrew Tridgell 6c4e552a0b AP_GPS: removed have_ekf_logging() 2020-11-10 16:15:45 +11:00