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
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
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
4f591a338f
AP_GPS: use GCS_SEND_TEXT()
2020-04-29 07:36:55 +10:00
6347d0adb0
AP_GPS: leave uart2 config enabled when using uart2 MB setup
2020-04-21 15:30:54 +10:00
f3a5d915f3
AP_GPS: allow for larger average delta on MB rover than normal
2020-04-21 15:30:54 +10:00
36098c3221
AP_GPS: improved delay health threshold
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allow for missing frames without showing unhealthy on GCS
2020-04-21 15:30:54 +10:00
3397ed766d
AP_GPS: enable ublox moving baseline compilation option
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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
ae2132d861
AP_GPS: added check for Z error in moving baseline ublox
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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
7027eecd34
AP_GPS: added GPS_DRV_OPTIONS
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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
9a6de209ab
AP_GPS: ensure that PVT and RELPOSNED msgs time align
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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
3fbeae613b
AP_GPS: fixed moving baseline yaw calculation
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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
077ab22767
AP_GPS: fixed AP_Periph build with gcc 9.x
2020-04-01 17:08:48 +11:00
4456732911
AP_GPS: fixed rotation of moving baseline GPS
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we were off by 180 degrees. Thanks to Jaime for noticing this!
2020-04-01 17:08:19 +11:00
2b08af69bc
AP_GPS: fix dereference-of-nullptr warning from scan-build
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This is kind-of a false positive as this in practise could never be
nullptr.
2020-03-31 10:37:16 +11:00
f00314a5d1
AP_GPS: removed dead blending code
2020-03-17 12:13:54 +11:00
9fa034d1de
AP_GPS: fixed antenna offset for blending
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we were accessing beyond the end of the antenna_offset array
2020-03-17 12:13:54 +11:00
a19634b9d2
AP_GPS: reduce POS param range to 5m and add increment
2020-02-01 08:46:03 +09:00
7efd5248ee
AP_GPS: added get_type() API
2020-01-26 09:12:55 +11:00
e59f32074d
AP_GPS: fixed yaw error when one GPS has zero position
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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
cf8becfa71
AP_GPS: make all semaphores recursive
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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
f0d1d3fa90
AP_GPS: added get_semaphore()
2020-01-16 20:36:54 +11:00
db777c56b9
AP_GPS: provide yaw feedback in GPS_RAW_INT and GPS2_RAW
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allow GPS to display status of GPS yaw for moving baseline and NMEA
2020-01-07 12:37:35 +11:00
e40c570615
AP_GPS: faster config of moving baseline
...
thanks to MdB for suggestion
2020-01-07 12:37:35 +11:00
e660532f67
AP_GPS: fixes from PR review
2020-01-07 12:37:35 +11:00
41289fe945
AP_GPS: adjust lag for MB RTK ublox
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rover will lag by about 40ms
2020-01-07 12:37:35 +11:00
b86c43aa66
AP_GPS: prefer RTK MB rover when it has yaw available
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this ensures that yaw data is time aligned with position and velocity
data
2020-01-07 12:37:35 +11:00
261465ef96
AP_GPS: split out update_primary() from update()
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this makes the selection of primary GPS a lot clearer, with less
nesting of if statements
2020-01-07 12:37:35 +11:00
93aaf98672
AP_GPS: added automatic u-blox moving baseline configuration
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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
71a0f3a1dc
AP_GPS: added RTCMv3 parser
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will be used for moving baseline support
2020-01-07 12:37:35 +11:00
6efbc484fd
AP_GPS: cope with UAVCAN GPS that don't provide Aux message
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thanks to @VadimZ for the suggestion
2019-12-05 15:48:51 -07:00
8ca6535661
AP_GPS: Log SBF commanded disarms
2019-11-20 11:06:16 -07:00
f8808022b8
AP_GPS: Check the driver logging health
2019-11-20 11:06:16 -07:00
379e3d60a1
AP_GPS: fixed sizes of config items
2019-11-16 15:28:52 +11:00
63a6a1084c
AP_GPS: UBlox: Fix the assumption that all keys are 1 byte keys
2019-11-16 15:28:52 +11:00
150a4edcf2
AP_GPS: UBlox fix not listing the time mode as a configuration reason
2019-11-16 15:28:52 +11:00
7bec9d87b4
AP_GPS: fixed TMODE config issue on non-F9 GPS
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thanks to Michel Pastor for reporting this
2019-11-16 15:28:52 +11:00
8aa781206d
AP_GPS: fixed signed/unsigned comparisons
2019-11-09 17:11:32 +11:00
b7c9391619
AP_GPS: support Fix2 message for UAVCAN
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this allows for RTK fix levels
2019-11-09 17:11:32 +11:00
632114d687
AP_GPS: support RTCMStream for RTCM injection on UAVCAN
2019-11-09 17:11:32 +11:00
6c31fb1bb6
AP_GPS: added automatic config of TMODE on F9
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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
2019-11-09 17:11:32 +11:00
d623da0de6
AP_GPS: Always send GPS2_RAW after we've seen the second GPS
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This significantly improves the GCS's ability to correctly display whats
happening with the second GPS.
2019-11-02 10:35:08 +11:00
5bafd7d72c
AP_GPS: Don't defeat the GCS message interval code
2019-10-28 00:26:28 -07:00
14cdac9202
AP_GPS: fixed GPS to UART mapping
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this allows for first GPS as UAVCAN and 2nd as UART. That is not
possible currently unless you waste a uart
2019-10-24 14:37:30 +11:00
00260db65a
AP_GPS: fixed UAVCAN GPS status when disconnected
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this fixes the status reported for a UAVCAN GPS when the cable is
unplugged. It should be "NO GPS", but was instead reporting "NO
FIX". The user had no way to distinguish between not finding a CAN GPS
at all and it not getting satellites
thanks to CUAV for reporting
2019-10-14 19:08:37 -06:00
37fb028532
AP_GPS: improved checking for valid yaw for moving baseline
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and fixed check for carrSolnFixed
2019-10-15 11:06:11 +11:00
2587b13ae7
AP_GPS: UBLOX: Parse RELPOSNED messages
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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
2019-10-15 11:06:11 +11:00
b5217412f9
AP_GPS: fixed a bug in handling corrupt u-blox packets
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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.
2019-09-30 15:20:30 -06:00
9eb6c1be64
AP_GPS: use jitter correction on GPS_INPUT data
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this allows for more accurate timing when using GPS_INPUT for indoor
positioning systems
2019-09-17 09:17:04 +10:00
f857eb4640
AP_GPS: Take responsibility for logging the GPS if the EKF wants logging
2019-09-10 09:09:17 +10:00
Andrew Tridgell
Peter Barker
Randy Mackay
Michael du Breuil