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315 Commits

Author SHA1 Message Date
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 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
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
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 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 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
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 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 4f591a338f AP_GPS: use GCS_SEND_TEXT() 2020-04-29 07:36:55 +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 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 077ab22767 AP_GPS: fixed AP_Periph build with gcc 9.x 2020-04-01 17:08:48 +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 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 e660532f67 AP_GPS: fixes from PR review 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
Michael du Breuil f8808022b8 AP_GPS: Check the driver logging health 2019-11-20 11:06:16 -07:00
Andrew Tridgell 632114d687 AP_GPS: support RTCMStream for RTCM injection on UAVCAN 2019-11-09 17:11:32 +11:00
Michael du Breuil d623da0de6 AP_GPS: Always send GPS2_RAW after we've seen the second GPS 
This significantly improves the GCS's ability to correctly display whats
happening with the second GPS.
 2019-11-02 10:35:08 +11:00
Michael du Breuil 5bafd7d72c AP_GPS: Don't defeat the GCS message interval code 2019-10-28 00:26:28 -07:00
Andrew Tridgell 14cdac9202 AP_GPS: fixed GPS to UART mapping 
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
Andrew Tridgell 00260db65a AP_GPS: fixed UAVCAN GPS status when disconnected 
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
Michael du Breuil f857eb4640 AP_GPS: Take responsibility for logging the GPS if the EKF wants logging 2019-09-10 09:09:17 +10:00
Michael du Breuil ca0dad9a7f AP_GPS: Directly include needed headers 2019-08-28 13:13:03 +10:00
Andrew Tridgell 291d72601b AP_GPS: enabled reduced size for AP_Periph support 2019-08-27 10:29:56 +10:00
Andrew Tridgell be9c98db12 AP_GPS: ensure we have full timestamp before setting RTC clock 
thanks to Martin Sollie for this bug report
 2019-07-31 20:13:55 +10:00
Michael du Breuil d33006a2e7 AP_GPS: Refactor first_unconfigured_gps to return bool 2019-07-30 10:12:43 +10:00
Pierre Kancir 13ac187fd8 AP_GPS: pass mavlink_message_t by const reference 2019-07-16 20:51:42 +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
Michael du Breuil 7871040bb6 AP_GPS: Pass an in range value for the param initilizer 2019-05-13 15:46:38 +10:00
Michael du Breuil e6d97f63a5 AP_GPS: Remove unneeded wrappers 2019-04-26 08:07:19 +10:00
Pierre Kancir 36f12e9818 AP_GPS: use get_distance_NED 2019-04-09 20:59:48 +10:00
Pierre Kancir 4ea10ce5f5 AP_GPS: use get_distance_NE instead of location_diff 2019-04-08 08:00:52 -07:00
Michael du Breuil 27ad9ac3ca AP_GPS: Refactor get_singleton() to return a pointer 2019-04-05 23:09:47 -07:00
Michael du Breuil 52eb832883 AP_GPS: Remove stuff from headers 2019-04-05 20:12:53 +11:00
Tom Pittenger 12c3446777 AP_GPS: rename dataflash to logger 2019-03-28 16:40:57 +11:00
Francisco Ferreira ba5ef18ef7 AP_GPS: correct blending check 2019-03-07 19:48:32 -07:00
Francisco Ferreira cb1ce70ae8 AP_GPS: fix out-of-bounds array access 2019-03-07 19:48:32 -07:00
Dr.-Ing. Amilcar do Carmo Lucas d7edd396bd AP_GPS: replace location_offset() and get_distance() function calls with Location object member function calls 
This allows removing duplicated code
 2019-02-28 11:44:09 +11:00
Tom Pittenger 5d66c3ed62 AP_GPS: unify singleton naming to _singleton and get_singleton() 2019-02-10 19:09:58 -07:00
Ben Kurtz 08092ea72b AP_GPS: fix typo in log message 2019-01-31 03:07:30 +00:00
Peter Barker 6fc76a32af GLOBAL: use AP::logger() and strip redundant Log_ from methods 2019-01-18 18:08:20 +11:00
Peter Barker b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Peter Barker 30980815a8 AP_GPS: adjust for Location_Class and Location unification 2019-01-16 11:45:29 +11:00
Peter Barker 30d5d6b578 AP_GPS: do not zero options after assigning from location 
On the assumption that the assignment operator knows what it is doing,
and that we have no idea what fields are actually present in options
 2019-01-16 11:45:29 +11:00
Randy Mackay c7287bb98f AP_GPS: add range to POS param description 2018-12-13 20:13:58 +09:00
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 d6944510da AP_GPS: Suppress clearing non-trival type warning 2018-10-30 16:17:03 -07:00
Siddharth Purohit ca54123b7d AP_GPS: move UAVCAN GPS related code to AP_GPS_UAVCAN backend 2018-08-29 22:54:59 +01:00
Dr.-Ing. Amilcar do Carmo Lucas 9c97f35b19 AP_GPS: Use GPS_AUTO_SWITCH parameter to choose exacly which GPS to use 2018-08-26 01:05:09 -07:00
Francisco Ferreira b29369eb82
AP_GPS: adapt to changes in AP_BoardConfig_CAN 2018-08-12 13:35:03 +01:00
Michael du Breuil 1a406dacfc AP_GPS: Ensure a lag value is always provided 
The value may not be the optimal value for the driver, but we should
always try to provide a value for the caller
 2018-08-07 09:55:26 +10:00
Peter Barker 5b41db5120 AP_GPS: use AP_RTC 
set the system time from a GPS if we have a 3D fix or better
 2018-06-15 08:01:22 +10:00
Eugene Shamaev 9985d4a937 AP_GPS: uniform naming 2018-06-09 22:46:48 -07:00
Eugene Shamaev 9f27a65f4b AP_GPS: helper func 2018-06-09 22:46:48 -07:00
Eugene Shamaev a805b3ce18 AP_GPS: reducing indenting by linearizing the logic 2018-06-09 22:46:48 -07:00
Francisco Ferreira 5fc7da0e83 AP_GPS: remove Qualcomm board support 2018-05-17 09:57:20 +10:00
Peter Barker 643e7e039a AP_GPS: log received data 
Also log a set of flag values if a driver is deleted
 2018-04-18 13:50:55 +09:00
Patrick José Pereira a255c47c33 AP_GPS: Do not restart driver if type is defined as MAV 
Fix bluerobotics/ardusub#104

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2018-04-16 17:08:39 -07:00
Tom Pittenger 793f50808d AP_GPS: add param defaults for EMLID_EDGE for GPS_TYPE=9 2018-02-13 15:29:53 +11:00
Michael du Breuil 9e37e9ee82 AP_GPS: Remove unused blending function. 
Thanks to ender-chen for noticing, closes #7510
 2018-01-09 12:52:32 -08:00
Dr.-Ing. Amilcar Do Carmo Lucas 479d4be3fd AP_GPS: Add horizontal, vertical and speed accuracy to the GPS_RAW_INT message 2018-01-09 13:01:05 +11:00
Peter Barker 47f8ed7fab AP_GPS: set GPS_SAVE_CFG default to save GPS config as required 2017-11-29 00:58:43 -07:00
Andrew Tridgell 9677d570e9 AP_GPS: faster GPS lock 
use 9600 and 115200 first
 2017-11-29 00:58:43 -07:00
Peter Barker 693823ae0d AP_GPS: add gps() to AP:: namespace 2017-11-15 13:43:03 +00:00
Michael du Breuil 236e74c529 AP_GPS: Singleton 2017-11-06 01:33:57 +00:00
Michael du Breuil c856cc6f33 AP_GPS: Allow GPS's to run functions on arming (used by SBF) 
Supports starting/stopping GPS logging
 2017-11-06 01:33:57 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas 68828511cd AP_GPS: Only send GPS*_RTK mavlink messages if the backend supports them 2017-10-30 18:28:20 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas 430b863f42 AP_GPS: Replace hardcoded duplicated end_mavlink_gps*_rtk() function with a flexible one 2017-10-30 18:28:20 +00:00
Michael du Breuil 561acb372e AP_GPS: SBF send port enable string on start 
Also prohibts SBF, GSOF, NOVA drivers from getting config strings not
meant for them
 2017-09-27 19:29:32 +01:00
Michael du Breuil bfbec02736 AP_GPS: SBF track the GPS error bits 2017-09-27 19:29:32 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas 09baac8f25 AP_GPS: Preserve the instance number, otherwise it will get set to zero 
Signed-off-by: Dr.-Ing. Amilcar Do Carmo Lucas <amilcar.lucas@iav.de>
 2017-09-26 23:15:10 -07:00
Dr.-Ing. Amilcar Do Carmo Lucas 8b9fb19061 AP_GPS: Added const just to be explicit (NFC) 
Signed-off-by: Dr.-Ing. Amilcar Do Carmo Lucas <amilcar.lucas@iav.de>
 2017-09-26 23:15:10 -07:00
Dr.-Ing. Amilcar Do Carmo Lucas 175b7c5389 AP_GPS: spellcheck in coment (NFC) 2017-09-26 23:15:10 -07:00
Dr.-Ing. Amilcar Do Carmo Lucas d3a18e803e AP_GPS: Fix MAVLink message field SYSTEM_TIME.time_unix_usec when GPS_AUTO_SWITCH = blend 
The mavlink message field SYSTEM_TIME.time_unix_usec works fine with GPS_AUTO_SWITCH == 0 (no switch) or ==1 (usebest)
But when GPS_AUTO_SWITCH == 2 (blend) then state[GPS_BLENDED_INSTANCE].last_gps_time_ms gets initialized with 0 and never rewritten.

The consequence: SYSTEM_TIME.time_unix_usec gets stuck at zero.
The solution: Do not reset state[GPS_BLENDED_INSTANCE].last_gps_time_ms because it would overwrite the correct value already set on line 1149
 2017-09-14 12:38:30 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas e03826890a AP_GPS: Fix typo in comment 2017-09-13 14:22:57 -07:00
Michael du Breuil 04eb7f411e AP_GPS: Track the delta time between the last GPS positions 2017-09-13 13:36:40 +01:00
Peter Barker 7f59279670 AP_GPS: make time_epoch_usec const 2017-07-28 14:27:53 +01:00