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821 Commits

Author SHA1 Message Date
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
Michael du Breuil 150a4edcf2 AP_GPS: UBlox fix not listing the time mode as a configuration reason 2019-11-16 15:28:52 +11:00
Andrew Tridgell 7bec9d87b4 AP_GPS: fixed TMODE config issue on non-F9 GPS 
thanks to Michel Pastor for reporting this
 2019-11-16 15:28:52 +11:00
Andrew Tridgell 8aa781206d AP_GPS: fixed signed/unsigned comparisons 2019-11-09 17:11:32 +11:00
Andrew Tridgell b7c9391619 AP_GPS: support Fix2 message for UAVCAN 
this allows for RTK fix levels
 2019-11-09 17:11:32 +11:00
Andrew Tridgell 632114d687 AP_GPS: support RTCMStream for RTCM injection on UAVCAN 2019-11-09 17:11:32 +11:00
Andrew Tridgell 6c31fb1bb6 AP_GPS: added automatic config of TMODE on F9 
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
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
Andrew Tridgell 37fb028532 AP_GPS: improved checking for valid yaw for moving baseline 
and fixed check for carrSolnFixed
 2019-10-15 11:06:11 +11:00
Michael du Breuil 2587b13ae7 AP_GPS: UBLOX: Parse RELPOSNED messages 
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
Andrew Tridgell b5217412f9 AP_GPS: fixed a bug in handling corrupt u-blox packets 
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
Andrew Tridgell 9eb6c1be64 AP_GPS: use jitter correction on GPS_INPUT data 
this allows for more accurate timing when using GPS_INPUT for indoor
positioning systems
 2019-09-17 09:17:04 +10:00
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
Peter Barker 8c21a279ea AP_GPS: examples: var_info is now in GCS_MAVLINK_Parameters 2019-08-14 18:25:43 +10:00
Andrew Tridgell 8d7262994b AP_GPS: support yaw in GPS_INPUT mavlink GPS 
useful for Vicon setups
 2019-08-12 10:25:40 +10:00
murata e4455491aa AP_GPS: Use common hexadecimal character to number conversion method 2019-08-06 10:14:12 +10:00
Peter Barker 46ad04aab7 AP_GPS: correct format string warnings in SBF driver 2019-08-05 11:20:35 +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
Randy Mackay 64637dba8f AP_GPS: resolve gcs::send_text compiler warning 2019-07-30 09:02:39 +09:00
Peter Barker 678c11f048 AP_GPS: supply format string to send_text 2019-07-26 10:54:41 +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