2e41cf810c
Revert "AP_GPS: GSOF robust config parsing"
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This reverts commit bf9881579c
2023-11-28 16:09:46 +11:00
8b7652d1db
Revert "AP_GPS: Move init logic from constructor to class"
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This reverts commit 5f84cd8f2b
2023-11-28 16:09:46 +11:00
d7b5cd3203
AP_GPS: Fix missing GSOF param for SITL
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Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-11-28 15:50:02 +11:00
5f84cd8f2b
AP_GPS: Move init logic from constructor to class
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Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-11-28 15:44:37 +11:00
bf9881579c
AP_GPS: GSOF robust config parsing
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* Refactor checksum to unique function
* Clear uart before reading data
* Add ack/nack check
* Implement output disable before requesting GSOF data
* Improve debug message to have line number
* Use debug in more code
* Stop delaying in configuration
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-11-28 15:44:37 +11:00
772dbfb04f
AP_GPS: SBF supports yaw from dual antennas
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Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
2023-11-28 11:17:51 +11:00
201c66e417
AP_GPS: Fix GSOF autobaud detection msg
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Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-11-14 10:26:01 +11:00
08d88ce7c6
AP_GPS: Use GPS_COM_PORT param in GSOF driver
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* Instead of hard coding to COM2, allow users to set it
* The enum is confusing, so this needs a wiki entry
* Use the same port in requestBAUD
* If the user configures an invalid param, send an error
* Add values for the GSOF COM ports
* Fix bug in RS232 being port 3 instead of port 0
* Use set_default for the typical user value when the GSOF driver is run
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-11-10 13:38:48 +11:00
2d9346e85a
AP_GPS: correct uBlox M10 configuration on minimised boards
2023-11-08 09:05:13 +11:00
9445cb2672
AP_GPS: Expose COM port and Output Rate in header
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* This removes magic numbers of hard coding the hardware port and output
rate
* This also fixes configuring the incorrect hardware port
* Now, COM2 (TTL) is configured for GSOF output
* The data rate remains the same as before
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-11-07 10:42:14 +11:00
e47a5c1ea9
AP_GPS: make AP_GPS_FixType enum class
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Don't want "NONE" in the global namespace
2023-11-07 10:30:04 +11:00
3edaea9be9
AP_GPS: Remove GPS_TC_BLEND
2023-11-02 15:51:52 +11:00
3a7e939a6c
AP_GPS: Fix some typos
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Fixed some typos found in the code.
2023-10-12 18:30:42 +11:00
2175a4a271
AP_GPS: allow for compilation without AP_RTC_ENABLED
2023-10-11 19:17:27 +11:00
88dd8130f6
AP_GPS: correct placement of voiding clause
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should be voided when no logging, not just on periph...
2023-10-10 08:37:57 +09:00
53115c73f9
AP_GPS: have AP_GPS_UBLOX use boolean uart read
2023-10-06 16:34:50 +11:00
4cabe0f223
AP_GPS: prevent use of blended GPS with moving baseline
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when moving baseline is enabled the rover is slaved to the base for
position and velocity, adding no additional useful data. Only the yaw
comes from the rover
2023-09-30 09:05:08 +10:00
4e61fb3f26
AP_GPS: allow GPS moving baseline rover at 3Hz
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users with busy CAN bus often get significiantly lower GPS rates on a
moving baseline rover, preventing arming. This PR relaxes the required
frame rate as the EKF is quite happy with 3Hz yaw and the yaw is the
only data consumed from a moving baseline rover
2023-09-30 09:05:08 +10:00
f358ddd771
AP_GPS: add an AP_GPS_FixType header
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useful when you need nice symbols for the numbers, but are not compiling the GPS headers in
2023-09-27 14:14:57 -07:00
0824eca776
AP_GPS: use AP_GPS_ENABLED to exclude more code when GPS not compiled in
2023-09-27 16:38:15 +10:00
89bd6ab218
AP_GPS: implement the GPS_DRV_OPTION for ellisoid height in mode drivers
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this allows a lot more drivers to use the GPS_DRV_OPTION but to use
ellisoid height. Particularly useful for DroneCAN GPS modules
using ellisoid height instead of AMSL is useful in some specialised
application
2023-09-21 19:36:26 +10:00
a391b14a6d
AP_GPS: replace utility functions with compiler builtins
2023-09-12 09:48:53 +10:00
668e2fa068
AP_GPS: use correct define for DroneCAN GPS drivers
2023-09-03 08:43:03 +10:00
74139423cb
AP_GPS: fixes for macos CAN SITL build
2023-08-29 15:09:48 +10:00
babd2d2033
AP_GPS: removed native_millis/micros
2023-08-24 13:06:40 +10:00
01cd42d1e7
AP_GPS: Allow multiple external AHRS GPS instances
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Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-08-24 12:01:32 +10:00
941e9785d4
AP_GPS_NOVA: avoid infinite reading of bytes
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if we have a very fast stream of garbage coming in available() may never return 0
2023-08-15 08:36:13 +10:00
5b21834827
AP_GPS: Switch to sparse endian to make it portable
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* Instead of custom algorithm to reduce flash and code maintenance
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-08-11 11:21:41 +10:00
e6ac368972
AP_GPS: make AP_GPS_MAV dependent on HAL_GCS_ENABLED
2023-08-08 11:33:54 +10:00
6ee9f01ffb
AP_GPS: avoid use of mavlink constructs when GCS not compiled in
2023-08-08 11:33:54 +10:00
bf005731a9
AP_GPS: tidy is_healthy calculations
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this removes some duplicate code and simplifies the flow of control
2023-08-08 11:31:18 +10:00
00bc4a9e8b
AP_GPS: add and use AP_GPS_DRONECAN_ENABLED
2023-08-02 17:46:30 +10:00
407cfc22ca
AP_GPS: remove code if blended instance is not available
2023-08-01 10:03:19 +10:00
c45c02ce82
AP_GPS: use AP_AHRS_ENABLED in place of HAL_BUILD_AP_PERIPH
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the guard here is just against use of the singleton
2023-07-04 10:27:32 +10:00
5664c0a142
AP_GPS: check delay_ok in one place
2023-07-04 08:15:31 +10:00
c89ec67333
AP_GPS: move AP_RTC::mktime to be ap_mktime
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in preparation for AP_RTC_ENABLED
2023-06-27 11:25:11 +10:00
848e1bfdf8
AP_GPS: ensure uart buffer sizes are OK for RTK
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rover needs higher tx size, base needs higher rx size
2023-06-27 10:32:43 +10:00
64869b6e16
AP_GPS: fixed RTK injection with moving baseline
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when 2nd DroneCAN GPS on the bus is the base in moving baseline we
need to be able to inject to it
2023-06-27 10:32:43 +10:00
6f292c02da
AP_GPS: add and use AP_GPS_ENABLED
2023-06-21 22:28:48 +10:00
0d4018107b
AP_GPS: fixed ublox M10S auto-config
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this copes with the M10S rejecting multiple-key VALGET calls. We fall
back to fetching one at a time
2023-06-13 11:00:47 +10:00
531b12e272
AP_GPS: fixed RTCM injection for DroneCAN GPS
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need to check broadcast() return
2023-06-08 10:15:50 +10:00
6ba526fa25
AP_GPS:Comform to ardupilot undulation definition
2023-06-08 09:48:30 +10:00
3f70f2104a
AP_GPS: use minimize_features.inc for more features
2023-06-06 10:14:02 +10:00
5026b3d08c
AP_GPS: send RTCM Stream message to over dronecan directly
2023-05-31 17:31:09 +10:00
639ba63560
AP_GPS: Remove gsof zero initialization
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Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-05-30 09:45:29 +10:00
e415b5fda0
AP_GPS: add clarifying comment on _configure_config_set method
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it's a bit confusingly named, because it doesn't actually "set" anything - it gets messages from the GPS which are then parsed and responded to based on the received values.
2023-05-29 09:56:20 +10:00
f092c22915
AP_GPS: Enforce max of 10 GSOF outputs per the manual
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Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-05-20 14:23:17 +10:00
77e169b226
AP_GPS: Update GSOF docs with newer data
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Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-05-20 14:22:15 +10:00
a05af3f3c3
AP_GPS: More const for gsofmsgreq
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Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-05-19 18:43:31 +10:00
a16c9cf64e
AP_GPS: log fragments used/fragments discarded for RTCM injection data
2023-05-17 18:37:43 +10:00
Peter Barker
Ryan Friedman
Michael du Breuil
Gone4Dirt
Mykhailo Kuznietsov
Andrew Tridgell
Alexander Keller
bugobliterator