Commit Graph

92 Commits

Author SHA1 Message Date
Hwurzburg 3d4f6cc2c4 AP_GPS: add build options for GPS backends 2022-01-12 16:17:21 +11:00
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
Jaaaky 6433547592 AP_GPS: Fix multi #include's 2021-12-21 10:38:46 +11:00
Andrew Tridgell f8e40eef00 AP_GPS: fixed printf format errors 2021-08-05 09:43:35 +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
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
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
Iampete1 997ffcf30d AP_GPS: NMEA: only decode each measage once 2020-08-09 11:37:16 +10:00
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
murata e4455491aa AP_GPS: Use common hexadecimal character to number conversion method 2019-08-06 10:14:12 +10:00
Grant Morphett 64ed76326b AP_GPS: Adding support for the NMEA GPHDT sentence
The NMEA GPHDT sentence can be used to determine the vehicles bearing
instead of a compass even when the vehicle is stationary.  This type
of GPS is normally very expensive and does the bearing using some sort
of phase ambituity algorithm.
2019-07-13 11:05:57 +10:00
Peter Barker 2aa0de49bb AP_GPS: remove pointless initialisers 2019-02-26 09:53:28 +11:00
Arjun Vinod 978cea97cf AP_GPS: whitespace and typo fixes 2019-01-05 08:45:24 +09:00
Andrew Tridgell 4af857da44 AP_GPS: adjust NMEA sentence length calculation
review feedback
2018-12-04 11:37:38 +11:00
Andrew Tridgell 3fe4b9c0f8 AP_GPS: make GPS packet timestamps more accurate
this reduces the effect of processing time and uart transmit time
2018-12-04 11:37:38 +11:00
Michael du Breuil 53c66106d6 AP_GPS: Remove unneeded intilizers
saves 160 bytes on make px4-v2
2018-05-16 20:34:00 +10:00
chobitsfan 02cfe9128d AP_GPS: parse RTK status in NMEA GGA message 2017-09-15 22:33:47 +01:00
Michael du Breuil 2f8f2ffd2d AP_GPS: Remove NMEA init blobs for binary drivers
All of the init strings that were sent in the NMEA driver are for GPS protocols
which have binary drivers, which provide far more features and are more robust.
It also appears that due to driver changes the config strings for SIRF/UBLOX
were no longer correct anyways).
2017-09-15 14:30:48 -07:00
Lucas De Marchi 8389158d76 AP_GPS: use FALLTHROUGH define
When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
2017-08-22 23:59:13 -07:00
murata c808ee2f49 Global: To nullptr from NULL.
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.
2016-11-02 16:04:47 -02:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
2016-10-24 09:42:01 -02:00
Andrew Tridgell 2239fd6a6e AP_GPS: fixed hexdigit in NMEA detector
thanks to adorus for spotting this! See issue#4255
2016-06-06 07:36:31 +10:00
Lucas De Marchi 035937ea7e AP_GPS: add some safety checks to _parse_decimal_100() 2016-05-20 10:06:45 -03:00
Lucas De Marchi fc6dd97e61 AP_GPS: make _parse_decimal_100() a static function
This allows to easily write tests for it as opposed to having to
construct the entire object.
2016-05-20 10:06:44 -03:00
Bert Regelink 7379d120e1 AP_GPS: fix _parse_decimal_100() with negative numbers
_parse_decimal_100() did not parse the fractional part for negative
numbers. Furthermore, use the third decimal (when present) for proper
rounding.
2016-05-20 10:06:44 -03:00
Andrew Tridgell b424c49bc7 AP_GPS: change ground course to be in degrees
more accuracy for replay
2016-05-07 18:27:21 +10:00
Andrew Tridgell 2a214f1e46 AP_GPS: support a wider variety of NMEA receivers
some reeivers use a different talker ID. This allows us to accept
them.
2016-04-18 15:30:17 +10:00
Andrew Tridgell a7079b730a AP_GPS: GPVTG can give new velocity 2016-02-11 18:46:01 +11:00
Andrew Tridgell 4beb1748c5 AP_GPS: better handle corrupted NMEA sentences
when a NMEA sentence is corrupted we should discard it
completely. This change prevents us considering a set of sentences
that includes corrupted sentences from being seen as new data
2016-02-11 18:46:01 +11:00
Caio Marcelo de Oliveira Filho c33b86a783 AP_GPS: use millis/micros/panic functions 2015-11-20 12:30:48 +09:00
Lucas De Marchi 5244559010 Minimize AP_Progmem.h includes
Most of AP_Progmem is already gone so we can stop including it in most
of the places. The only places that need it are the ones using
pgm_read_*() APIs.

In some cases the header needed to be added in the .cpp since it was
removed from the .h to reduce scope. In those cases the headers were
also reordered.
2015-10-30 14:35:32 +09:00
Lucas De Marchi 1b07dabeb7 Replace prog_char and prog_char_t with char
prog_char and prog_char_t are now the same as char on supported
platforms. So, just change all places that use them and prefer char
instead.

AVR-specific places were not changed.
2015-10-30 14:35:30 +09:00
Lucas De Marchi 831d8acca5 Remove use of PROGMEM
Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:

    git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
    git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'

The 2 commands were done so we don't leave behind spurious spaces.

AVR-specific places were not changed.
2015-10-30 14:35:16 +09:00
Lucas De Marchi aa370fe758 Replace use of strcmp_P() with strcmp() 2015-10-30 14:35:09 +09:00
Andrew Tridgell 2c7a113790 AP_GPS: ensure all GPS drivers give headings as 0..360 degrees
this prevents inconsistency between interfaces, and fixes a MAVLink
reporting bug with UAVCAN GPS
2015-08-31 08:24:35 +10:00
Gustavo Jose de Sousa 67db430583 AP_GPS: standardize inclusion of libaries headers
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.
2015-08-11 16:28:43 +10:00
Randy Mackay 8aa7a3cffc GPS: suppress compile warning 2015-07-29 16:53:18 +09:00
Randy Mackay be6089e903 GPS: fix compile warning for NMEA logging 2015-07-29 16:53:16 +09:00
Andrew Tridgell 25fe2b3fb0 AP_GPS: added optional NMEA debug log
compile time option for debugging
2015-07-29 11:07:01 +10:00
Andrew Tridgell 3b1b7ea029 AP_GPS: fixed time handling with NMEA driver 2015-07-20 09:15:32 +10:00
Julien BERAUD a852e48f37 AP_GPS_NMEA: fix gps startup
when no valid gps data, gps would restart in a loop. Take the frame without
gps fix into account for frame counting
2015-07-20 09:14:15 +10:00
kozinalexey 20a04bad77 AP_GPS: request RMC message in NMEA driver 2015-07-06 11:16:12 +10:00
Andrew Tridgell 21c895f6f3 AP_GPS: prevent extra NMEA messages causing rapid fix rates
unexpected messages could cause the GPS driver to report a very high
fix rate, which can confuse the EKF
2015-07-03 22:08:05 +10:00
Andrew Tridgell 809ff15b43 AP_GPS: make NMEA driver a bit easier to read
thanks to crashpilot100
2014-11-16 14:12:14 +11:00
Andrew Tridgell b81b9e1bb8 AP_GPS: prevent bad NMEA strings from causing overruns in parser
fixes issue #961

thanks to crashpilot100 for spotting this!
2014-11-16 14:08:20 +11:00
Andrew Tridgell 59de5a8465 AP_GPS: avoid some float conversion warnings 2014-07-08 20:27:03 +10:00
Andrew Tridgell 0191355488 AP_GPS: fixed init strings to all be in progmem
and sent async ...
2014-04-01 06:38:25 +11:00