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
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
...
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
...
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
...
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
...
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
...
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
...
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
...
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
...
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
...
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
...
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
...
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
...
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
...
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
...
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
yaapu
85b61d6bf3
AP_GPS: added support for MSP GPS sensors
2020-09-09 06:35:50 +10:00
Andrew Tridgell
5647aadbcf
AP_GPS: added API for getting last iTOW
2020-09-09 06:35:50 +10:00
Andrew Tridgell
56b743dfca
AP_GPS: build SBF driver with double precision
2020-09-03 09:56:29 +10:00
Michael du Breuil
6a8680d31d
AP_GPS: Send RTK baseline data from SBF
2020-09-03 09:56:29 +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
Siddharth Purohit
0690b7bd68
AP_GPS: move to using CANManager library
2020-08-19 17:31:09 +10:00
Michael du Breuil
08d4e1c062
AP_GPS: Support configuring the SBF com port
2020-08-13 15:04:38 +10:00
Iampete1
997ffcf30d
AP_GPS: NMEA: only decode each measage once
2020-08-09 11:37:16 +10:00
Siddharth Purohit
d122f00c14
AP_GPS: redetection not necessary for UAVCAN GPS
2020-07-29 17:32:56 +10:00
Tom Pittenger
8f6e9caf93
AP_GPS: change GPS_AUTO_SWITCH #define list to enum class
...
enumeration entry had to change to NONE to avoid name conflict with DISABLED
2020-06-25 11:10:31 +10:00
Andrew Tridgell
4aa10a6c30
AP_GPS: added force_disable_yaw() API
2020-06-18 15:01:00 +10:00
Andrew Tridgell
78858bbcdd
AP_GPS: switch ublox over to 230400 baud
...
this ensures we have sufficient bandwidth for raw data
2020-06-01 17:18:17 -07:00
Andrew Tridgell
529bfe8fcd
AP_GPS: fixed issue with GPS selection for moving baseline
...
when you have a moving baseline pair of ublox GPS modules and the
rover GPS does not have full fixed RTK lock on the base GPS then we
should not use it as our primary GPS as it's position and velocity can
be badly affected by the attempts of the GPS to gain a fixed lock.
This was observed in a flight with two F9P GPS, where the GPS velocity
data from the rover GPS went way off when it lost full RTK lock. It's
status stayed at 4, so it was selected as the primary GPS
2020-05-27 10:59:46 +10:00
Andrew Tridgell
f00392d567
AP_GPS: don't accept a zero GNSS timestamp from UAVCAN GPS
...
this is needed for a bug in AP_Periph 1.0 which could briefly send a
zero timestamp on first fix marked as a UTC time
2020-04-29 12:20:19 +10:00
Andrew Tridgell
4f591a338f
AP_GPS: use GCS_SEND_TEXT()
2020-04-29 07:36:55 +10:00
Andrew Tridgell
6347d0adb0
AP_GPS: leave uart2 config enabled when using uart2 MB setup
2020-04-21 15:30:54 +10:00
Andrew Tridgell
f3a5d915f3
AP_GPS: allow for larger average delta on MB rover than normal
2020-04-21 15:30:54 +10:00
Andrew Tridgell
36098c3221
AP_GPS: improved delay health threshold
...
allow for missing frames without showing unhealthy on GCS
2020-04-21 15:30:54 +10:00
Andrew Tridgell
3397ed766d
AP_GPS: enable ublox moving baseline compilation option
...
disable for HAL_MINIMIZE_FEATURES and if max receivers 1. This fixes
the f103-GPS AP_Periph build
2020-04-21 15:30:54 +10:00
Andrew Tridgell
ae2132d861
AP_GPS: added check for Z error in moving baseline ublox
...
this ensures we don't get bad yaw from having the right distance but
incorrect Z offset for the currently expected roll/pitch
2020-04-21 15:30:54 +10:00
Andrew Tridgell
7027eecd34
AP_GPS: added GPS_DRV_OPTIONS
...
this allows for configuration of moving baseline with either uart1 or
uart2 for the RTCM data. Using uart2 requires an extra cable between
the two modules, but requires less uart bandwidth which is good when
DMA channels are low. Using uart2 also avoids the rtcmv3 parser, which
saves memory
2020-04-21 15:30:54 +10:00
Andrew Tridgell
9a6de209ab
AP_GPS: ensure that PVT and RELPOSNED msgs time align
...
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
2020-04-21 15:30:54 +10:00
Andrew Tridgell
3fbeae613b
AP_GPS: fixed moving baseline yaw calculation
...
this reverts #13955 and instead applies the correct fix, which is to
subtract the angle instead of adding.
2020-04-21 15:30:54 +10:00
Andrew Tridgell
077ab22767
AP_GPS: fixed AP_Periph build with gcc 9.x
2020-04-01 17:08:48 +11:00
Andrew Tridgell
4456732911
AP_GPS: fixed rotation of moving baseline GPS
...
we were off by 180 degrees. Thanks to Jaime for noticing this!
2020-04-01 17:08:19 +11:00
Peter Barker
2b08af69bc
AP_GPS: fix dereference-of-nullptr warning from scan-build
...
This is kind-of a false positive as this in practise could never be
nullptr.
2020-03-31 10:37:16 +11:00
Andrew Tridgell
f00314a5d1
AP_GPS: removed dead blending code
2020-03-17 12:13:54 +11:00
Andrew Tridgell
9fa034d1de
AP_GPS: fixed antenna offset for blending
...
we were accessing beyond the end of the antenna_offset array
2020-03-17 12:13:54 +11:00
Randy Mackay
a19634b9d2
AP_GPS: reduce POS param range to 5m and add increment
2020-02-01 08:46:03 +09:00
Andrew Tridgell
7efd5248ee
AP_GPS: added get_type() API
2020-01-26 09:12:55 +11:00
Andrew Tridgell
e59f32074d
AP_GPS: fixed yaw error when one GPS has zero position
...
the M_PI correction was only valid for one zero side. Much simpler to
always calculate difference
2020-01-24 11:46:40 +11:00
Andrew Tridgell
cf8becfa71
AP_GPS: make all semaphores recursive
...
the cost is very similar and this prevents an easy coding error which
can occur on less used code paths
2020-01-19 20:19:30 +11:00
Andrew Tridgell
f0d1d3fa90
AP_GPS: added get_semaphore()
2020-01-16 20:36:54 +11:00
Andrew Tridgell
db777c56b9
AP_GPS: provide yaw feedback in GPS_RAW_INT and GPS2_RAW
...
allow GPS to display status of GPS yaw for moving baseline and NMEA
2020-01-07 12:37:35 +11:00
Andrew Tridgell
e40c570615
AP_GPS: faster config of moving baseline
...
thanks to MdB for suggestion
2020-01-07 12:37:35 +11:00
Andrew Tridgell
e660532f67
AP_GPS: fixes from PR review
2020-01-07 12:37:35 +11:00
Andrew Tridgell
41289fe945
AP_GPS: adjust lag for MB RTK ublox
...
rover will lag by about 40ms
2020-01-07 12:37:35 +11:00
Andrew Tridgell
b86c43aa66
AP_GPS: prefer RTK MB rover when it has yaw available
...
this ensures that yaw data is time aligned with position and velocity
data
2020-01-07 12:37:35 +11:00
Andrew Tridgell
261465ef96
AP_GPS: split out update_primary() from update()
...
this makes the selection of primary GPS a lot clearer, with less
nesting of if statements
2020-01-07 12:37:35 +11:00
Andrew Tridgell
93aaf98672
AP_GPS: added automatic u-blox moving baseline configuration
...
this uses GPS_TYPE and GPS_TYPE2 to setup two u-blox F9 receivers in a
RTK moving baseline configuration
2020-01-07 12:37:35 +11:00
Andrew Tridgell
71a0f3a1dc
AP_GPS: added RTCMv3 parser
...
will be used for moving baseline support
2020-01-07 12:37:35 +11:00
Andrew Tridgell
6efbc484fd
AP_GPS: cope with UAVCAN GPS that don't provide Aux message
...
thanks to @VadimZ for the suggestion
2019-12-05 15:48:51 -07:00
Michael du Breuil
8ca6535661
AP_GPS: Log SBF commanded disarms
2019-11-20 11:06:16 -07:00
Michael du Breuil
f8808022b8
AP_GPS: Check the driver logging health
2019-11-20 11:06:16 -07:00
Andrew Tridgell
379e3d60a1
AP_GPS: fixed sizes of config items
2019-11-16 15:28:52 +11:00
Michael du Breuil
63a6a1084c
AP_GPS: UBlox: Fix the assumption that all keys are 1 byte keys
2019-11-16 15:28:52 +11:00