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
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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
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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
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for debugging GPS protocols
2022-01-11 10:34:11 +11:00
Andrew Tridgell
27cec48b82
AP_GPS: support KSXT message for Unicore NMEA
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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
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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
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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
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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
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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
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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
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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
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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
Iampete1
60951a7891
AP_GPS: add use primary if 3D fix GPS_AUTO_SWITCH option
2020-11-10 12:01:56 +11:00
Iampete1
347723dbaf
AP_GPS: add primary param
2020-11-10 12:01:56 +11:00
Michael du Breuil
b30c55b3f3
AP_GPS: Support yaw from moving base station on SBF drivers
2020-11-03 11:12:20 +11:00
Michael du Breuil
4161e2eb28
AP_GPS: Factor out moving base offset helper
2020-11-03 11:12:20 +11:00
Michael du Breuil
a61444cec0
AP_GPS: Don't reset the entire buffer when handling RTCM data
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This is a micro optimization intended to just make handling GPS
corrections a bit faster.
2020-10-25 14:21:39 +11:00
murata
4c835a0df9
AP_GPS: Move the CRC24 to the AP_Math class
2020-10-21 18:24:07 +11:00
Andrew Tridgell
e529d475d4
AP_GPS: use mktime for NMEA and MTK time conversion
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this fixes NMEA time handling, which was off by 3 days
2020-10-20 11:21:00 +11:00
Andrew Tridgell
e995a198bd
AP_GPS: always send GPS2_RAW if 2nd GPS configured
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this improves the display on the GCS when the GPS has not yet been
found. This is particularly important after a reboot, as otherwise the
GCS may display stale information from the previous boot
2020-10-06 16:48:19 +11:00
Andrew Tridgell
8e08d93026
AP_GPS: fixed pre-arm check on ublox M9 GPS
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this prevents a failure from config of SOL and TMODE messages
2020-10-06 10:22:52 +11:00
Donione
ff80be19c1
AP_GPS: fix type and update reserved bytes in ublox PVT
2020-09-28 16:31:14 -07:00
Andrew Tridgell
8c1bc94053
AP_GPS: fixed build warnings for MSP with AP_Periph
2020-09-15 09:40:03 +10:00
Andrew Tridgell
94670879f8
AP_GPS: allow hwdef.dat override of GPS rate
2020-09-09 06:35:50 +10:00