Andrew Tridgell
848e1bfdf8
AP_GPS: ensure uart buffer sizes are OK for RTK
...
rover needs higher tx size, base needs higher rx size
2023-06-27 10:32:43 +10:00
Peter Barker
a16c9cf64e
AP_GPS: log fragments used/fragments discarded for RTCM injection data
2023-05-17 18:37:43 +10:00
Ryan Friedman
1e9403dca6
AP_GPS: Add covariance output to AP_GPS matching ROS NavSatFix
...
* Zero every iteration in case GPS quality degrades or fix is lost
* Use float precision for now
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-04-14 12:06:42 +10:00
Andrew Tridgell
645fd82507
AP_GPS: rename more variables, types and defines
2023-04-11 10:31:31 +10:00
Andrew Tridgell
5952eb1249
AP_GPS: update header references
2023-04-11 10:31:31 +10:00
Andrew Tridgell
8829f54d89
AP_GPS: rename AP_UAVCAN to AP_DroneCAN
2023-04-08 07:11:23 +10:00
Peter Barker
3c3f383601
AP_GPS: decouple status enumeration from MAVLink fix types
...
This moves us towards being able to compile the GPS library without having the MAVLink headers available. We shouldn't need those headers when building for Periph.
If the headers are available then we ensure our values match mavlink so we can do a simple cast from one to the other
2023-03-22 14:23:41 +11:00
Peter Barker
5423dd0210
AP_GPS: avoid using struct Location
...
clang reports this could be a problem when compiling under some EABIs. Remove it from most places as it is just noise, replace with class where we want to avoid including Location.h
2023-02-04 22:51:54 +11:00
Andrew Tridgell
7a741a0a2d
AP_GPS: fixed use of undulation for GPS2_RAW
...
GPS2_RAW needs to use undulation of 2nd receiver
2023-01-08 13:30:11 +11:00
Andrew Tridgell
898187950e
AP_GPS: give yaw information for AP_Periph from Unicore GPS
...
this allows for CAN GPS yaw with length and height checks with unicore
GPS
2022-12-20 10:23:58 +11:00
Andrew Tridgell
d7a3c643a6
AP_GPS: improved unicore setup
...
log version information and improve auto-bauding
2022-12-20 10:23:58 +11:00
Andrew Tridgell
a7c5c6b728
AP_GPS: allow for disabling of NMEA Unicore support
2022-12-20 10:23:58 +11:00
Andrew Tridgell
ad9dfe2d51
AP_GPS: added support for Unicore NMEA GPS
...
this includes dual-antenna moving baseline support, 3D velocity and accuracies
2022-12-20 10:23:58 +11:00
Andrew Tridgell
b12cd48843
AP_GPS: improve support for uBlox-M10
...
this sets up the M10 to use the BaiDou B1C signal instead of B1, and
disables glonass. This is needed to get a consistent 5Hz lock
2022-11-22 19:51:01 +11:00
Peter Barker
6a64b56b0d
AP_GPS: fix SIRF defines
...
this allows SIRF to be included even on minimised boards if it is requested
2022-11-09 18:44:40 +11:00
Peter Barker
f225592f48
AP_GPS: use default case for sending blob
...
This structure avoids a compiler warning that a statement isn't reachable when all backends are compiled out.
2022-09-29 20:00:53 +10:00
Peter Barker
288089a158
AP_GPS: no init blobs for SBF/GSOF/NOVA/SITL
2022-09-29 20:00:53 +10:00
Peter Barker
3a3f9bdb84
AP_GPS: cycle through baud rates for SBF/GSOF/NOVA/SITL
2022-09-29 20:00:53 +10:00
Henry Wurzburg
d31f6c2f57
AP_GPS: remove incorrect build option on GPS_DRV_OPTIONS param
2022-09-05 12:48:51 +10:00
Joshua Henderson
378dff5568
AP_GPS: added get_undulation support
2022-08-09 14:37:08 +10:00
Iampete1
51540359e6
AP_GPS: params always use set method
2022-08-03 13:43:48 +01:00
Peter Barker
b4bee6a510
AP_GPS: correct compilation when all serial backends compiled out
2022-07-26 10:30:43 +10:00
Peter Barker
96b4945eb9
AP_GPS: move explanation of ublox rates into ublox header
2022-07-26 10:30:43 +10:00
Tamas Nepusz
6ca593a61d
AP_GPS: Do not drop reassembly buffer for injected packets when a dupllicate fragment is received
2022-07-22 20:40:21 +10:00
Peter Barker
00329ae443
AP_GPS: stop reading arbitrary amounts of data in GPS init
...
We don't like doing this in other places as the vehicle can go out to
lunch for arbitrary periods of time
2022-07-13 17:56:38 +10:00
Peter Barker
b88f414320
AP_GPS: allow UBLOX driver to be compiled out
2022-07-13 17:56:38 +10:00
Peter Barker
e858a0fab7
AP_GPS: factor out a _detect_instance method
...
This means we don't need the goto to handle the case of a detected GPS,
and it also allows for restructure remove the "else" statements, which
will allow compilinmg out the uBlox driver
2022-07-13 17:56:38 +10:00
Andrew Tridgell
06a9a1521c
AP_GPS: added GPS_DRV_OPTIONS bit for ellipsoid height
2022-06-15 17:30:28 +10:00
Andrew Tridgell
509f03f946
AP_GPS: cleanup driver option access
...
use option_set() to make code clearer
2022-06-15 17:30:28 +10:00
Peter Barker
ccca0e8e0f
AP_GPS: stop using HAL_BUILD_AP_PERIPH to gate GPS backends
2022-04-13 18:23:51 +10:00
Peter Barker
e0a96eaa83
AP_GPS: remove more code based on GPS_MOVING_BASELINE
2022-04-12 11:20:01 +10:00
Peter Barker
aa72559d00
AP_GPS: tidy initialisation of sending blobs
2022-04-12 11:20:01 +10:00
Peter Barker
4b6590734a
AP_GPS: move gps blob initialisation out to method
2022-04-12 11:20:01 +10:00
Peter Barker
c2112565b5
AP_GPS: remove redundant _blend_mask check
...
filling in of these values is already gated by checking the mask
2022-04-06 17:31:42 +10:00
Peter Barker
4332ed8f36
AP_GPS: use sq function for squaring numbers
2022-04-06 17:31:42 +10:00
Peter Barker
88feb74762
AP_GPS: improve parameter documentation in UAVCAN GPS
2022-03-27 06:21:20 -07:00
Andrew Tridgell
feb9e78f00
AP_GPS: prevent switching to a dead GPS
...
when we switch away from the blended GPS instance we need to ensure we
don't switch to a GPS that is timing out, and may be the instance that
is triggering the disable of blending
2022-03-22 10:10:07 +11:00
Peter Barker
a9aa5c2d60
AP_GPS: add a new AP_GPS_SITL object
2022-03-17 14:39:55 +11:00
Peter Barker
8d6e442997
AP_GPS: include cleanups
2022-03-01 11:21:33 +11:00
bugobliterator
3598724378
AP_GPS: change time_epoch_convert to istate_time_to_epoch_ms
2022-02-03 06:45:35 +11:00
bugobliterator
244b8ed358
AP_GPS: change _last_itow to _last_itow_ms
2022-02-03 06:45:35 +11:00
bugobliterator
e77bb74f9b
AP_GPS: remove unnecessary multiply with 1000ULL in time_epoch_usec
2022-02-03 06:45:35 +11:00
Peter Barker
c463036706
AP_GPS: write config blob out as chunk rather than iterating
2022-01-30 13:24:45 +11:00
bugobliterator
49bf4fa27b
AP_GPS: move to using last_corrected_gps_time_us instead of uart_timestamp_us
2022-01-20 17:26:35 +11:00
bugobliterator
9834304525
AP_GPS: make more precise calculation of gps message
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use PPS signal if available as well
2022-01-20 17:26:35 +11:00
Peter Barker
c5f21664db
AP_GPS: correct compilation when SIRF disabled
2022-01-14 11:49:01 +11:00
Hwurzburg
3d4f6cc2c4
AP_GPS: add build options for GPS backends
2022-01-12 16:17:21 +11:00
Andrew Tridgell
09cd7558c3
AP_GPS: drop default GPS lag to 0.1s
...
this impacts UAVCAN GPS modules, which these days usually have at
least u-blox M8
2022-01-12 07:54:46 +11:00
Andrew Tridgell
3f160b4910
Revert "AP_GPS: drop default GPS lag to 0.1s"
...
This reverts commit 1e60d2557b
.
2022-01-04 19:02:54 +00:00
Andrew Tridgell
1e60d2557b
AP_GPS: drop default GPS lag to 0.1s
...
this impacts UAVCAN GPS modules, which these days usually have at
least u-blox M8
2022-01-03 16:39:07 -08:00
Hwurzburg
35cc90d117
AP_GPS: change UAVCAN in metadata to DroneCAN
2021-12-15 09:53:21 +11:00
bugobliterator
ae65f2e6ab
AP_GPS: fix build and working with single GPS Receiver config
2021-09-30 21:53:07 +10:00
Peter Barker
068f91169c
AP_GPS: remove mtk GPSs
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These are ancient and of very poor quality.
2021-09-29 17:28:59 +10:00
Peter Barker
1ae8385a0f
AP_GPS: correct GPS switching when GPS blending disabled
2021-09-28 09:08:50 +10:00
Josh Henderson
06251335da
AP_GPS: use vector.xy().length() instead of norm(x,y)
2021-09-14 10:43:46 +10:00
bugobliterator
ddc50a8420
AP_GPS: add option to set a dedicated line for Moving Baseline Data
2021-08-19 14:20:58 +10:00
bugobliterator
85d8becb8c
AP_GPS: add support for auto config Moving Baseline for AP_Periph GPS
2021-08-19 14:20:58 +10:00
bugobliterator
9fc57e40b4
AP_GPS: add support for dual GPS heading using Periph GPSes
2021-08-19 14:20:58 +10:00
Andrew Tridgell
4f4a0a02f6
AP_GPS: added doc message for bit 2 of DRV_OPTIONS
2021-08-10 10:54:14 +10:00
Andrew Tridgell
1479566921
AP_GPS: added GPS_DRV_OPTIONS bit for forcing ublox GPS to 115200
...
this may help with some GPS modules
2021-08-10 10:54:14 +10:00
Peter Barker
c9699d7ce4
AP_GPS: log GPS primary change event in GPS library
2021-08-06 15:30:18 +10:00
Andrew Tridgell
0e7c2a27a6
AP_GPS: added arming checks for yaw available on ublox RTK rover
2021-07-30 06:51:21 +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
Peter Barker
c0c3f92c39
AP_GPS: remove @Values from param metadata where @Bitmask exists
2021-06-23 18:37:34 +10:00
Peter Barker
9e5662e927
AP_GPS: remove HIL support
2021-06-15 09:47:31 +10:00
Peter Barker
15cd41ca19
AP_GPS: add support for AP_Logger into AP_Periph
2021-06-08 09:57:55 +10:00
Andrew Tridgell
02feaaffcd
AP_GPS: setup ublox moving baseline at 230400 when using uart2
...
this avoids issues with needing DMA on the UARTs when using UART2 to
transport RTCMv3 data
2021-05-21 08:49:25 +09:00
Peter Barker
30b9a7aeb4
AP_GPS: correct GPS_AUTO_SWITCH parameter description
2021-05-05 16:41:50 +10:00
Andrew Tridgell
de5da74df1
AP_GPS: fixed spelling of GLONASS
2021-04-29 13:01:09 +10:00
Peter Barker
a7e0c565dc
AP_GPS: populate extension fields in GPS2_RAW
2021-04-20 11:46:35 +10:00
murata
3a006ae226
AP_GPS: Supplementary explanation of configuration parameters (NFC)
2021-03-16 10:43:18 +11:00
Siddharth Purohit
edceb4e3a4
AP_GPS: move underscore one layer down for GPS
2021-03-12 16:32:36 +09:00
bugobliterator
0031fee851
AP_GPS: add support for ordering UAVCAN GPS
2021-03-12 16:32:36 +09:00
Michael du Breuil
a3ddf5264d
AP_GPS: Support uavcan ardupilot.gnss.Status
...
Also makes the drive by change to make GPS_Backend::is_configured const
2021-03-12 09:39:55 +11:00
Peter Barker
c2cba52ad8
AP_GPS: move gps logging structures into AP_GPS
2021-02-17 11:30:01 +11:00
Michael du Breuil
0f363809f5
AP_GPS: Fix some unit errors with the GPS blended instance
...
Also add a static assert and some docs on the fact that blending only
works with 2 actual recievers at the moment
Also a small optimization to not call get_rate_ms() twice
2021-01-28 11:55:30 +11:00
E Thomas
2ee052b36e
AP_GPS: Made GPS_DISABLE prevent last_fix_time_ms updates
2021-01-23 17:25:00 +11:00
Andrew Tridgell
bf51478dd1
AP_GPS: added ExternalAHRS backend
2021-01-05 21:13:12 +11:00
Andrew Tridgell
1a4f094025
AP_GPS: allow hwdef override of default for GPS_COM_PORT
2020-12-06 16:48:08 +11:00
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