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937 Commits

Author SHA1 Message Date
Andrew Tridgell
135c88d474 AP_GPS: use KSXT for position and alt when available 
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 
for debugging GPS protocols
 2022-01-11 10:34:11 +11:00
Andrew Tridgell
27cec48b82 AP_GPS: support KSXT message for Unicore NMEA 
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 
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 
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 
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 
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 
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 
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 
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