this ensures we wait until we have a matching PVT and RELPOSNED
message before we report new data. If we stop receiving RELPOSNED
messages then disable yaw support
the Drotek F9 GPS ships with TMODE enabled, which means we don't get a
3D fix.
This also adds the VALGET/VALSET msgs we will need for automatic
moving baseline config
This does not yet:
- validate the receiver configuration
- manage timing out stale GPS heading info
- relPosNormalized usage isn't clear, which may defeat the STRICT_LENGTH_CHECK
when we have corrupt input due to loss of bytes on a UART we can end
up with a u-blox packet with zero payload bytes. When that happens we
need to bypass payload reading as otherwise we will end up keeping
reading bytes until the driver resets at 4 seconds, causing a GPS
outage.
This was causing GPS outages every few hours in copters running 3.6.7,
and was also reproduced in SITL using SIM_GPS_BYTELOSS.
RC_Channel: To nullptr from NULL.
AC_Fence: To nullptr from NULL.
AC_Avoidance: To nullptr from NULL.
AC_PrecLand: To nullptr from NULL.
DataFlash: To nullptr from NULL.
SITL: To nullptr from NULL.
GCS_MAVLink: To nullptr from NULL.
DataFlash: To nullptr from NULL.
AP_Compass: To nullptr from NULL.
Global: To nullptr from NULL.
Global: To nullptr from NULL.
That fixed compilation issues and seems more semantically correct. Using array
of length 0 fails compilation because of -Werror=array-bounds in GCC 6.1.
The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
this makes uBlox use the 3D velocity for ground course and speed,
ensuring we use a consistent value everywhere (so same vector in EKF
as in navigation)
5hz update warnings are only valid if you have a fix, without a fix it adds load
to the GPS without any benefit. Our _5hz time messages are depenend upon GPS fix
time which isn't available yet
The ublox driver will now continuosly poll for the settings from the GPS and correct any that are found to be in correct.
This status is then reported to the arming library as an additional arming check, allowing the user to be sure that the
gps is correctly configured before using it. If a user has a GPS2 configured that is not present they will fail the arming
checks until after they have disabled the second GPS.
2 new parameters were introduced as well:
-GPS_AUTO_CONFIG: Will not request any configuration packets to attempt to change them. (If the packet is recieved then
a update will be sent to it, but in testing this scenario never occured. This is set to 1 or 0 to change the setting.
(Defaults to 1 enabling auto config)
-GPS_GNSS_MODE2: Behaves the same way as GPS_GNSS_MODE but only applies to the second GPS.
GPS drivers are now allowed 2 seconds of non responsiveness before being unloaded
The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.
This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.
AVR-specific places were not changed.
This is really just calculating the hamming weight of the GNSS_MODE bitmask, but I don't know if the APM compiler could handle the GCC intrinsic that could calculate it faster, and this is done so rarely there isn't a significant penalty to using the for loop.
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.
Provides a stable fallback, and can be considered fairly safe from the perspective that it provides a worse value then the hDOP under almost all scenarios.
Ublox 7 and 8 seires use a UBX-CFG-GNSS message to enable satellite constellations. The default value does not enable any additional ones, and any constellations the reciever doesn't report knowing about are not configured.
Andrew Tridgell
Michael du Breuil
Randy Mackay
Michael Oborne
Tom Pittenger
Peter Barker
Arjun Vinod
Alexander Remizov
Lucas De Marchi
murata
Mathieu OTHACEHE
Michael du Breuil
Gustavo Jose de Sousa
Ricardo de Almeida Gonzaga
dgrat
Aaron Wang Shi
Caio Marcelo de Oliveira Filho
Siddharth Bharat Purohit
Jonathan Challinger
Andy Piper