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
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
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
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
That fixed compilation issues and seems more semantically correct. Using array
of length 0 fails compilation because of -Werror=array-bounds in GCC 6.1.
We actually don't want a flexible array in this union, but rather a way
to access it byte by byte. This fixes the build for gcc >= 6
In file included from ../../libraries/AP_GPS/AP_GPS.cpp:24:0:
../../libraries/AP_GPS/AP_GPS_ERB.h:93:23: error: flexible array member in union
uint8_t bytes[];
^
compilation terminated due to -Wfatal-errors.
In file included from ../../libraries/AP_GPS/AP_GPS_ERB.cpp:22:0:
../../libraries/AP_GPS/AP_GPS_ERB.h:93:23: error: flexible array member in union
uint8_t bytes[];
^
compilation terminated due to -Wfatal-errors.
In file included from ../../libraries/AP_GPS/AP_GPS_MTK.cpp:25:0:
../../libraries/AP_GPS/AP_GPS_MTK.h:75:23: error: flexible array member in union
uint8_t bytes[];
^
compilation terminated due to -Wfatal-errors.
In file included from ../../libraries/AP_GPS/AP_GPS_MTK19.cpp:26:0:
../../libraries/AP_GPS/AP_GPS_MTK.h:75:23: error: flexible array member in union
uint8_t bytes[];
^
compilation terminated due to -Wfatal-errors.
In file included from ../../libraries/AP_GPS/AP_GPS_SIRF.cpp:22:0:
../../libraries/AP_GPS/AP_GPS_SIRF.h:101:23: error: flexible array member in union
uint8_t bytes[];
^
compilation terminated due to -Wfatal-errors.
In file included from ../../libraries/AP_GPS/AP_GPS_UBLOX.cpp:23:0:
../../libraries/AP_GPS/AP_GPS_UBLOX.h:387:23: error: flexible array member in union
uint8_t bytes[];
^
compilation terminated due to -Wfatal-errors.
Due to the way the headers are organized a single change in a
AP_GPS backend would trigger a rebuild for most of the files in the
project. Time could be saved by using ccache (since most of the things
didn't change) but we can do better, i.e. re-organize
the headers so we don't have to re-build everything.
This makes internal headers internal and then other libraries only
depend on the AP_GPS.h header.
The ublox driver will now continuosly poll for the settings from the GPS and correct any that are found to be in correct.
This status is then reported to the arming library as an additional arming check, allowing the user to be sure that the
gps is correctly configured before using it. If a user has a GPS2 configured that is not present they will fail the arming
checks until after they have disabled the second GPS.
2 new parameters were introduced as well:
-GPS_AUTO_CONFIG: Will not request any configuration packets to attempt to change them. (If the packet is recieved then
a update will be sent to it, but in testing this scenario never occured. This is set to 1 or 0 to change the setting.
(Defaults to 1 enabling auto config)
-GPS_GNSS_MODE2: Behaves the same way as GPS_GNSS_MODE but only applies to the second GPS.
GPS drivers are now allowed 2 seconds of non responsiveness before being unloaded
Andrew Tridgell
Michael du Breuil
Michael Oborne
Peter Barker
Randy Mackay
Mathieu OTHACEHE
Michael du Breuil
Gustavo Jose de Sousa
Lucas De Marchi
Tom Pittenger
Siddharth Bharat Purohit