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44 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 a61b6ebda8 AP_GPS: move from HAL_NO_LOGGING to HAL_LOGGING_ENABLED 2021-05-19 17:38:47 +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
Michael du Breuil d9ffd04a96 AP_GPS: Broadcast the detect message on AP_Periph over CAN 2021-02-05 11:52:29 -07:00
Michael du Breuil 4161e2eb28 AP_GPS: Factor out moving base offset helper 2020-11-03 11:12:20 +11:00
Andrew Tridgell e529d475d4 AP_GPS: use mktime for NMEA and MTK time conversion 
this fixes NMEA time handling, which was off by 3 days
 2020-10-20 11:21:00 +11:00
yaapu 85b61d6bf3 AP_GPS: added support for MSP GPS sensors 2020-09-09 06:35:50 +10:00
Andrew Tridgell 87c7781be2 AP_GPS: show GPS as unhealthy if it is lagged too much 
this detects GPS data lag, and if 5 samples in a row are lagged by
more than 50ms beyond the expected lag for the GPS then we declare the
GPS as unhealthy.

This is useful to detect users who have asked for more data from the
GPS then it can send at the baudrate that is being used. The case that
led to this path was a F9 GPS with GPS_RAW_DATA=1 at 115200 baud. In
that case the UART data is quickly lagged by over 1s
 2020-08-25 10:22:05 +10:00
Andrew Tridgell 291d72601b AP_GPS: enabled reduced size for AP_Periph support 2019-08-27 10:29:56 +10:00
Peter Barker 678c11f048 AP_GPS: supply format string to send_text 2019-07-26 10:54:41 +10:00
Michael du Breuil 52eb832883 AP_GPS: Remove stuff from headers 2019-04-05 20:12:53 +11:00
Tom Pittenger 12c3446777 AP_GPS: rename dataflash to logger 2019-03-28 16:40:57 +11:00
Peter Barker 6fc76a32af GLOBAL: use AP::logger() and strip redundant Log_ from methods 2019-01-18 18:08:20 +11:00
Peter Barker b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Andrew Tridgell 7c50aacc92 AP_GPS: moved place we graph uart timestamp 2018-12-04 11:37:38 +11:00
Andrew Tridgell 685771c145 AP_GPS: constrain rate_ms from 5Hz to 20Hz 2018-12-04 11:37:38 +11:00
Andrew Tridgell 7a4b8d76c1 AP_GPS: added jitter correction to timestamp calculation 
this allows for much more accurate (and consistent) timestamping of GPS
messages where the protocol has a ITOW field.
 2018-12-04 11:37:38 +11:00
Andrew Tridgell df68d6413c AP_GPS: moved iTow handling to GPS_Backend 2018-12-04 11:37:38 +11:00
Andrew Tridgell 3fe4b9c0f8 AP_GPS: make GPS packet timestamps more accurate 
this reduces the effect of processing time and uart transmit time
 2018-12-04 11:37:38 +11:00
Peter Barker 40daa8e15f AP_GPS: use mavlink definition to get statustext size 
Also, add one for null-termination
 2018-10-16 10:11:28 +11:00
Patrick José Pereira 10ffd89a0c AP_GPS: Remove unused operation 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2018-08-27 23:35:34 +01:00
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
Dr.-Ing. Amilcar Do Carmo Lucas bf6778277e AP_GPS: implement GPS*_RTK mavlink messages 2017-10-30 18:28:20 +00:00
Peter Barker 76847a2487 AP_GPS: eliminate GCS_MAVLINK::send_statustext_all 2017-07-11 23:53:53 +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
Michael du Breuil 1877d09f7c AP_GPS: Don't track detection time to broadcast baud rate 2017-05-30 23:37:59 +01:00
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
Peter Barker b7baca8d43 AP_GPS: move GPS type announcements into backend 
See #4584
 2017-04-23 21:04:17 +01:00
Michael du Breuil 6f297deaf7 AP_GPS: Unify inject_data interface for all classes 2017-04-19 02:05:51 +01:00
Randy Mackay cd379b0e86 AP_GPS: move time_epoch calcs into proper file 
The frontend implementation was in the backend file
No functional change
 2017-03-13 11:31:51 +11:00
Lucas De Marchi 9f09442548 AP_GPS: rename UNIX_OFFSET 
To keep consistency with other constants and make clear the unit.
 2017-02-11 01:34:09 -08:00
murata 30151c8253 Global: Define MSEC_PER_SEC, MSEC_PER_WEEK, SEC_PER_WEEK and UNIX_OFFSET. 2017-02-11 01:34:09 -08:00
Michael du Breuil c696137a42 AP_GPS: Update the number of leapseconds 2017-01-18 18:07:26 +00:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Andrew Tridgell b424c49bc7 AP_GPS: change ground course to be in degrees 
more accuracy for replay
 2016-05-07 18:27:21 +10:00
Andrew Tridgell c85607b80c AP_GPS: added time_epoch_convert() function 
used by replay to get identical timestamps
 2016-05-07 18:27:18 +10:00
Lucas De Marchi ff10d1136c AP_GPS: reorganize includes 
Due to the way the headers are organized a single change in a
AP_GPS backend would trigger a rebuild for most of the files in the
project. Time could be saved by using ccache (since most of the things
didn't change) but we can do better, i.e.  re-organize
the headers so we don't have to re-build everything.

This makes internal headers internal and then other libraries only
depend on the AP_GPS.h header.
 2016-04-14 21:01:51 -03:00
Caio Marcelo de Oliveira Filho c33b86a783 AP_GPS: use millis/micros/panic functions 2015-11-20 12:30:48 +09:00
Lucas De Marchi 24e5deb906 AP_GPS: remove comments about AVR boards 2015-11-04 12:14:11 +11:00
Gustavo Jose de Sousa 67db430583 AP_GPS: standardize inclusion of libaries headers 
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
 2015-08-11 16:28:43 +10:00
Jonathan Challinger 2293070a5b AP_GPS: Add uBlox accuracy metrics interface and logging 2014-11-06 07:38:41 +11:00
Daniel Frenzel c97b460a6b AP_GPS: removed wrong reassignment of msec 
Signed-off-by: Daniel Frenzel <dgdanielf@gmail.com>
 2014-08-11 09:24:19 +10:00
Andrew Tridgell 368daf89f1 AP_GPS: new GPS API 
This is a complete rewrite of the GPS driver structure, with a static
main driver and separate backend drivers. This will allow proper
support for multiple GPSes, and will allow parameters to be set on the
GPS object
 2014-04-01 06:38:23 +11:00