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245 Commits

Author SHA1 Message Date
rmackay9 811550cca6 AP_GPS_MTK19: small bug fix re "==" vs "=" 
Also saved 22 bytes of RAM by moving error message into program space.
 2013-01-02 09:16:48 +11:00
Craig@3DR f778961acf Added support for Mediatek firmware Rev 1.9 2013-01-02 09:16:47 +11:00
Andrew Tridgell 4a6b46c661 AP_GPS: fixed multiple GPS detection bug 2012-12-20 14:53:24 +11:00
Andrew Tridgell f549950a9c AP_GPS: remove some debug code 2012-12-20 14:53:23 +11:00
Andrew Tridgell ceb3f577d8 libraries: use new math functions 2012-12-20 14:53:22 +11:00
Andrew Tridgell 2679eabdef Cleanup: removed unused AP_GPS_IMU 2012-12-20 14:52:37 +11:00
Andrew Tridgell 8beaec61a8 AP_GPS: fixed build for new syntax 2012-12-20 14:52:36 +11:00
Pat Hickey eb530b86e8 move Arduino.mk to /mk/Arduino.mk 2012-12-20 14:52:35 +11:00
Andrew Tridgell 18db7b2efd GPS: move _port setting to init() 
this is needed to avoid constructor ordering dependencies
 2012-12-20 14:52:32 +11:00
Andrew Tridgell 7d27e420ae AP_HAL: remove unnecessary Arduino.h includes 2012-12-20 14:52:30 +11:00
Pat Hickey f1869d1aa6 AP_GPS: GPS_406_test ported to AP_HAL 2012-12-20 14:51:40 +11:00
Pat Hickey d6cb240468 AP_GPS: GPS_NMEA_test ported to AP_HAL 
* I wasn't able to demonstrate the library/test sketch working with my
  ublox gps.
 2012-12-20 14:51:40 +11:00
Andrew Tridgell 18fb9c67f6 AP_GPS: use AP_Progmem 2012-12-20 14:51:39 +11:00
Pat Hickey 475da4eca4 CONFIG_HAL_BOARD - test sketches fixed up, build all passes 2012-12-20 14:51:37 +11:00
Andrew Tridgell 13309cceb3 AP_GPS: reverted formatting of GPS messages 2012-12-20 14:51:37 +11:00
Pat Hickey 2be552ea22 AP_GPS: less chatty autodetect 2012-12-20 14:51:35 +11:00
Pat Hickey d72c5cf828 AP_GPS: uartB fixup 2012-12-20 14:51:35 +11:00
Pat Hickey a4f1f6a5db AP_Progmem: fix dependencies for all sketches touched by AP_HAL_AVR 2012-12-20 14:51:28 +11:00
Andrew Tridgell 53105efbcd HAL_AVR: more uart0 -> console changes 2012-12-20 14:51:27 +11:00
Andrew Tridgell d133f15f57 HAL_AVR: use hal.console instead of hal.uart0 2012-12-20 14:51:27 +11:00
Pat Hickey c56c4ae240 Various example sketches: hal.uart0->begin(115200) is redundant. use console. 
just assume uart0 is initialized by the HAL, because it is. DRY.
also, don't ever use uart0 explicitly in example sketches, use console
and let the hal figure it out.
 2012-12-20 14:51:25 +11:00
Pat Hickey deb96143d3 AP_GPS_IMU: fix type punning warnings by using memcpy 2012-12-20 14:51:25 +11:00
Pat Hickey 9ed023aeb4 AP_GPS: Builds under AP_HAL. Not tested. 2012-12-20 14:51:25 +11:00
Pat Hickey 3f1d9d7f69 AP_Param: #include <AP_Param.h> fixups for libraries & sketches 
* I mostly went through with grep and added an #include <AP_Param.h> below
  every #include <AP_Common.h>. Not all of these example sketches might
  strictly need AP_Param.
 2012-12-20 14:51:19 +11:00
Craig@3DR 2586c7a32a Updated the MediaTek configuration 
to set the minimum speed the GPS must be moving to update the position to 0 m/s.
to enable SBAS / WAAS / DGPS position fixes.
 2012-12-11 15:35:52 -08:00
Andrew Tridgell 57d3609d00 AP_GPS: fixed examples build 2012-11-24 21:07:53 +11:00
Andrew Tridgell 2e63b3ae8e AP_GPS: added in two more dynamic model enums 2012-11-22 16:23:29 +11:00
Andrew Tridgell 984b1086cb AP_GPS_UBLOX: ask for nav settings every 20 seconds 
this ensures we don't run with the wrong nav settings on a uBlox if
we get a bad checksum on the initial nav settings message
 2012-11-05 14:58:40 +11:00
Andrew Tridgell 72e97c6dfc AP_GPS: start detection timer on first bytes 
this prevents a uBlox plugged in late from being detected as a NMEA
GPS
 2012-11-05 14:58:40 +11:00
Andrew Tridgell 6f9fa7d3b3 AP_GPS: removed shadowed class variable _nav_setting 
this caused a uBlox to incorrectly configure as "portable" instead of
airborne if the detection took more than 2 seconds. That led to
terrible performance.
 2012-11-05 14:58:40 +11:00
Andrew Tridgell e74e730992 AP_GPS: added velocity_down() call 
on GPSes with raw velocity support this will be used for DCM
correction
 2012-11-05 14:58:40 +11:00
Andrew Tridgell a53cbc08f3 GPS: avoid output delays in the GPS auto detection 
this sends out the GPS init strings in 16 byte chunks to avoid causing
timing glitches when no GPS is attached
 2012-10-18 16:18:32 +11:00
Andrew Tridgell 608cc60689 GPS: fixed SIRF auto detect code 2012-09-25 07:10:07 +10:00
rmackay9 50a97f3092 AP_GPS: added get_lag method to return expected lag from the GPS. 2012-09-20 15:48:22 +09:00
Andrew Tridgell 728b3a133e GPS: disable auto detection of NMEA and SiRF on a 1280 board 
saves a bit more flash space
 2012-09-19 19:36:48 +10:00
Andrew Tridgell 59b44816ec GPS: replaced the GPS auto-detect mechanism 
the old mechanism wasted most of the input bytes, and chewed a lot of
CPU, making it impractical to do GPS detection for a GPS attached
after startup

The new code is async, and detects a GPS by looking for a fully formed
packet with the right checksum for each GPS type
 2012-09-17 14:45:47 +10:00
Andrew Tridgell ba9543ee04 GPS: NMEA bug fix from Alexey Kozin 
thanks Alexey!
 2012-09-12 15:04:24 +10:00
uncrustify 97035fbead uncrustify libraries/AP_GPS/GPS.h 2012-08-21 19:19:52 -07:00
uncrustify 20d1a94778 uncrustify libraries/AP_GPS/AP_GPS_IMU.h 2012-08-21 19:19:52 -07:00
uncrustify 4cd477d13d uncrustify libraries/AP_GPS/AP_GPS_IMU.cpp 2012-08-21 19:19:52 -07:00
uncrustify 6c885df832 uncrustify libraries/AP_GPS/AP_GPS_UBLOX.cpp 2012-08-21 19:19:52 -07:00
uncrustify a48aa18d6f uncrustify libraries/AP_GPS/AP_GPS_MTK16.cpp 2012-08-21 19:19:52 -07:00
uncrustify 03b42037a0 uncrustify libraries/AP_GPS/AP_GPS_NMEA.h 2012-08-21 19:19:51 -07:00
uncrustify da81115079 uncrustify libraries/AP_GPS/AP_GPS_NMEA.cpp 2012-08-21 19:19:51 -07:00
uncrustify a8ed24da6c uncrustify libraries/AP_GPS/AP_GPS_SIRF.cpp 2012-08-21 19:19:51 -07:00
uncrustify 074f3ae872 uncrustify libraries/AP_GPS/AP_GPS_406.cpp 2012-08-21 19:19:51 -07:00
uncrustify 9ce7513096 uncrustify libraries/AP_GPS/AP_GPS_MTK.cpp 2012-08-21 19:19:51 -07:00
uncrustify d8200a6aea uncrustify libraries/AP_GPS/AP_GPS_HIL.h 2012-08-21 19:03:13 -07:00
uncrustify 8ad83695b8 uncrustify libraries/AP_GPS/AP_GPS_MTK16.h 2012-08-21 19:03:02 -07:00
uncrustify a91687f1cb uncrustify libraries/AP_GPS/AP_GPS_None.h 2012-08-21 19:03:02 -07:00
uncrustify c95fc7b166 uncrustify libraries/AP_GPS/AP_GPS_406.h 2012-08-21 19:02:53 -07:00
uncrustify 65f55328e2 uncrustify libraries/AP_GPS/AP_GPS.h 2012-08-21 19:02:53 -07:00
uncrustify 4950bf3b95 uncrustify libraries/AP_GPS/AP_GPS_UBLOX.h 2012-08-21 19:02:46 -07:00
uncrustify a8ad5f62a5 uncrustify libraries/AP_GPS/AP_GPS_MTK.h 2012-08-21 19:02:40 -07:00
uncrustify 9b3081345e uncrustify libraries/AP_GPS/AP_GPS_Auto.h 2012-08-21 19:02:40 -07:00
uncrustify a133b098a5 uncrustify libraries/AP_GPS/AP_GPS_SIRF.h 2012-08-21 19:02:40 -07:00
uncrustify 5c24c373d0 uncrustify libraries/AP_GPS/AP_GPS_Shim.h 2012-08-21 19:02:40 -07:00
uncrustify cdaf2f923d uncrustify libraries/AP_GPS/GPS.cpp 2012-08-21 19:02:32 -07:00
uncrustify c5451b0e9b uncrustify libraries/AP_GPS/AP_GPS_HIL.cpp 2012-08-21 19:02:12 -07:00
uncrustify b9d3f449b9 uncrustify libraries/AP_GPS/AP_GPS_Auto.cpp 2012-08-21 19:02:11 -07:00
uncrustify 9e43a9d090 uncrustify libraries/AP_GPS/examples/GPS_MTK_test/GPS_MTK_test.pde 2012-08-21 19:01:35 -07:00
uncrustify 0f5aff35fc uncrustify libraries/AP_GPS/examples/GPS_NMEA_test/GPS_NMEA_test.pde 2012-08-21 19:01:35 -07:00
uncrustify 1e8ea08bce uncrustify libraries/AP_GPS/examples/GPS_AUTO_test/GPS_AUTO_test.pde 2012-08-21 19:01:34 -07:00
uncrustify 9f2d71e544 uncrustify libraries/AP_GPS/examples/GPS_UBLOX_test/GPS_UBLOX_test.pde 2012-08-21 19:01:34 -07:00
uncrustify 12b5e53ce7 uncrustify libraries/AP_GPS/examples/GPS_406_test/GPS_406_test.pde 2012-08-21 19:01:34 -07:00
Andrew Tridgell ddf9541c0a AP_GPS: fixed build of new MTK code 2012-08-22 10:02:21 +10:00
Craig Elder 2493ffaad1 GPS: Corrections to Media Tek GPS Driver. Change to 5Hz and SBAS 2012-08-22 09:56:25 +10:00
rmackay9 c10d01f24b AP_GPS: revert delay callback to be "unsigned long" 2012-08-18 20:33:45 +09:00
rmackay9 8a29f47ce0 AP_GPS: replaced "int" with "int16_t" and "long" with "int32_t" 2012-08-18 16:35:38 +09:00
Andrew Tridgell 2d47bd0386 GPS: support getting raw velocity values from a UBlox 
this may give better velocity numbers than the value from COG
 2012-08-15 20:06:35 +10:00
Andrew Tridgell 618f43bef6 AP_GPS: added last_ground_speed() method 
used for dead-reckoning in AHRS
 2012-08-11 11:59:47 +10:00
Andrew Tridgell 8a6fcf998b AP_GPS: fixed types to be stdint types 2012-08-11 11:59:03 +10:00
Andrew Tridgell 819b6459b2 GPS-UBlox: removed duplicate config messages 
these were left over from debugging
 2012-07-19 15:23:15 +10:00
Andrew Tridgell f4faf941e2 GPS: test the more modern MTK16 2012-06-27 16:01:50 +10:00
Andrew Tridgell 37db5247cd GPS: added velocity and acceleration components 
used by AHRS for acceleration correction
 2012-06-27 16:01:49 +10:00
rmackay9 068fe64b9b ArduCopter HIL: changed calls to setHIL to send in time as a uint32_t (it was a float) 2012-06-26 22:50:17 +09:00
Andrew Tridgell a851c53de4 GPS: need pgmspace.h for _write_progstr_block() 2012-06-15 16:27:11 +10:00
Andrew Tridgell 70f18289c5 GPS: fixed auto-config of UBlox setup with no UBX messages 
if a UBlox is configured for NMEA only, with no UBX messages at all
then it would never trigger the GPS_AUTO detection. This adds a UBX
config message to the init strings that enables the NAV_SOL message
 2012-06-15 15:53:27 +10:00
rmackay9 1e38b0d535 AP_GPS_NMEA: fix from Roberto Navoni to improve NMEA accuracy 2012-06-12 20:27:50 +09:00
Andrew Tridgell f9560ef093 GPS: use the new nav_setting in a couple of the sample sketches 2012-06-10 16:35:13 +10:00
Andrew Tridgell 33a2ad7e07 GPS: add stub settings for nav_setting in the other GPS drivers 
only Ublox supports nav_setting so far
 2012-06-10 16:34:53 +10:00
Andrew Tridgell 514be604a5 GPS: added auto-configuration of UBlox GPS 
the Ublox will now auto-configure for 5Hz with just the messages we
want. It also supports setting the navigation engine type
 2012-06-10 16:34:13 +10:00
Andrew Tridgell cbf477addd GPS: added debug code to the main GPS class 2012-06-08 16:42:03 +10:00
Andrew Tridgell a8bfc5d8e9 GPS: re-open the serial port with a 256 byte serial receive buffer 
this ensures all GPS parsers have a 256 byte buffer available
 2012-06-08 16:42:03 +10:00
Andrew Tridgell 296e651b30 GPS: fixed the UBLOX parser to handle unknown messages 
the parser was broken in several ways:

 1) when it received an unknown message it didn't update the ck_a and ck_b fields, so it
    thought the message had a bad checksum, which meant it got out of protocol sync

 2) the read() method would return false if the last message from the GPS was of an unknown type. 
    So we relied on the last msg always being one that we understand and want

 3) the parser considered any valid UBLOX message to be 'new data', whereas we only actually get 
    a new fix when we get box a new position and velned message

 4) the total message size per update is more than 128 bytes, but the serial port was opened 
    with only a 128 byte buffer, so we got corruption regularly
 2012-06-08 16:42:02 +10:00
Andrew Tridgell 9c2ba2e814 GPS: tidy up the auto gps test 2012-06-08 16:42:02 +10:00
Andrew Tridgell 0f0cbce22f GPS: fixed a race condition in the ublox driver 
the status update comes as a separate message from the lat/lon
 2012-06-04 14:47:58 +10:00
Jason Short 73e23aab2a GPS time set to unsigned int32 2012-06-03 11:13:50 -07:00
rmackay9 dcdeae412e ArduCopter: Another attempt at fixing the lat/lon printing bug in which small negative lattitudes or longitudes were appearing as positives. 
Fixed in both ArduCopter Log.pde and the GPS Auto test sketch
 2012-06-03 16:58:19 +09:00
rmackay9 2a216ce900 ArduCopter: fixed print_latlon bug in which it would print negative lat/lon numbers incorrectly (i.e. -1234567890 would be printed as -124.xxx). 2012-06-02 12:51:12 +09:00
Andrew Tridgell 7f8fe97889 GPS: u-center config file for 3DR Ublox 2012-04-20 22:05:30 +10:00
Andrew Tridgell f170790fd8 GPS: fixed auto GPS test 2012-04-20 22:05:30 +10:00
Andrew Tridgell 711814085b GPS: detect new style 3DR UBlox 2012-04-20 22:05:30 +10:00
Andrew Tridgell 08bc7f1a41 GPS: fixed the UBlox test code 2012-04-20 20:57:08 +10:00
analoguedevices 28833ed1d6 added missing #include 2012-04-09 14:32:54 +00:00
Andrew Tridgell 4dff78b9c0 GPS: expose last_fix_time 2012-03-10 10:34:32 +11:00
Andrew Tridgell 57f67ca6e3 GPS: added an acceleration estimate to the GPS driver 
This uses the GPS ground speed to estimate acceleration
 2012-03-10 10:34:30 +11:00
Andrew Tridgell 7fbfcc2721 GPS: fixed some stdint types 2012-03-10 10:34:29 +11:00
Andrew Tridgell d90dc4d893 GPS: change back to 4Hz for MTK GPS 
this will hopefully fix the NO_GPS problems that have been regularly
happening in recent months. I will watch the logs carefully to see if
the problem recurs
 2012-02-13 22:50:20 +11:00
Andrew Tridgell 1f05e7dafb fixed types in GPS detect code 
using int everywhere is wasteful and non-portable
 2012-02-13 16:22:53 +11:00