Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 14:38:30 -04:00
Code Issues Packages Projects Releases Wiki Activity
65,338 Commits 71 Branches 509 Tags 753 MiB
a076e23cc3
Commit Graph

1158 Commits

Author SHA1 Message Date
Andrew Tridgell
d894f7ac5d AP_GPS: do initial probe at default baudrate 
this makes for much faster probe for most users
 2024-02-29 11:00:40 +11:00
Peter Barker
e6a6db9ba0 AP_GPS: correct check of reported antenna distance vs stated offset 2024-02-27 10:52:10 +11:00
Peter Barker
cb2f764700 AP_GPS: improve reporting of offset vs reported-distance inaccuracy 2024-02-27 10:44:56 +11:00
Andrew Piper
6d6c790e37 AP_GPS: fragments_received is a bitmask not a count 2024-02-26 09:23:08 +11:00
Peter Barker
21a01c5587 AP_GPS: remove dead GPS_MINDGPS variable 2024-02-22 14:41:29 +11:00
Andrew Tridgell
4fca2ee852 AP_GPS: prevent announcing DroneCAN at 5Hz 2024-02-22 13:27:54 +11:00
Peter Barker
494d72503a AP_GPS: use probing when probing for GPS, add detected message 2024-02-20 19:35:01 +11:00
bugobliterator
4bcac076f6 AP_GPS: broaden the acceptance criteria for GPS Yaw measurement 2024-02-08 00:59:15 -08:00
Simon Hancock
867f656033 AP_GPS: Updates to log message units and help text 
Link GPS.Status to AP_GPS::GPS_Status enum
Remove units on fields set to Bytes which are not
Set the unit of GPS.GMS and GRAW.WkMS to ms (no unit specified before).
Change the unit of GPS.HDop and GPA.VDop from m to no-unit.
 2024-01-21 14:26:54 +11:00
Andrew Tridgell
754d3df304 AP_GPS: support newer M10 versions with L1L5 2024-01-21 12:23:12 +11:00
Andrew Tridgell
6aaf6883ef AP_GPS: make L1/L5 check work on M10 modules too 
tested on SierraAerospace L1L5 module
 2024-01-21 12:23:12 +11:00
bugobliterator
55a922563b AP_GPS: set L5 config only on BBR and RAM 2024-01-21 12:23:12 +11:00
bugobliterator
78b0ddcf45 AP_GPS: add support for setting L5 override 2024-01-21 12:23:12 +11:00
Peter Barker
fa8f3b5715 AP_GPS: allow compilation with HAL_LOGGING_ENABLED false 2024-01-17 18:25:55 +11:00
Peter Barker
2e41cf810c Revert "AP_GPS: GSOF robust config parsing" 
This reverts commit bf9881579c.
 2023-11-28 16:09:46 +11:00
Peter Barker
8b7652d1db Revert "AP_GPS: Move init logic from constructor to class" 
This reverts commit 5f84cd8f2b.
 2023-11-28 16:09:46 +11:00
Ryan Friedman
d7b5cd3203 AP_GPS: Fix missing GSOF param for SITL 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-11-28 15:50:02 +11:00
Ryan Friedman
5f84cd8f2b AP_GPS: Move init logic from constructor to class 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-11-28 15:44:37 +11:00
Ryan Friedman
bf9881579c AP_GPS: GSOF robust config parsing 
* Refactor checksum to unique function
* Clear uart before reading data
* Add ack/nack check
* Implement output disable before requesting GSOF data
* Improve debug message to have line number
* Use debug in more code
* Stop delaying in configuration

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-11-28 15:44:37 +11:00
Michael du Breuil
772dbfb04f AP_GPS: SBF supports yaw from dual antennas 
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2023-11-28 11:17:51 +11:00
Ryan Friedman
201c66e417 AP_GPS: Fix GSOF autobaud detection msg 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-11-14 10:26:01 +11:00
Ryan Friedman
08d88ce7c6 AP_GPS: Use GPS_COM_PORT param in GSOF driver 
* Instead of hard coding to COM2, allow users to set it
* The enum is confusing, so this needs a wiki entry
* Use the same port in requestBAUD
* If the user configures an invalid param, send an error
* Add values for the GSOF COM ports
* Fix bug in RS232 being port 3 instead of port 0
* Use set_default for the typical user value when the GSOF driver is run

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-11-10 13:38:48 +11:00
Peter Barker
2d9346e85a AP_GPS: correct uBlox M10 configuration on minimised boards 2023-11-08 09:05:13 +11:00
Ryan Friedman
9445cb2672 AP_GPS: Expose COM port and Output Rate in header 
* This removes magic numbers of hard coding the hardware port and output
  rate
* This also fixes configuring the incorrect hardware port
* Now, COM2 (TTL) is configured for GSOF output
* The data rate remains the same as before

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-11-07 10:42:14 +11:00
Peter Barker
e47a5c1ea9 AP_GPS: make AP_GPS_FixType enum class 
Don't want "NONE" in the global namespace
 2023-11-07 10:30:04 +11:00
Gone4Dirt
3edaea9be9 AP_GPS: Remove GPS_TC_BLEND 2023-11-02 15:51:52 +11:00
Mykhailo Kuznietsov
3a7e939a6c AP_GPS: Fix some typos 
Fixed some typos found in the code.
 2023-10-12 18:30:42 +11:00
Peter Barker
2175a4a271 AP_GPS: allow for compilation without AP_RTC_ENABLED 2023-10-11 19:17:27 +11:00
Peter Barker
88dd8130f6 AP_GPS: correct placement of voiding clause 
should be voided when no logging, not just on periph...
 2023-10-10 08:37:57 +09:00
Peter Barker
53115c73f9 AP_GPS: have AP_GPS_UBLOX use boolean uart read 2023-10-06 16:34:50 +11:00
Andrew Tridgell
4cabe0f223 AP_GPS: prevent use of blended GPS with moving baseline 
when moving baseline is enabled the rover is slaved to the base for
position and velocity, adding no additional useful data. Only the yaw
comes from the rover
 2023-09-30 09:05:08 +10:00
Andrew Tridgell
4e61fb3f26 AP_GPS: allow GPS moving baseline rover at 3Hz 
users with busy CAN bus often get significiantly lower GPS rates on a
moving baseline rover, preventing arming. This PR relaxes the required
frame rate as the EKF is quite happy with 3Hz yaw and the yaw is the
only data consumed from a moving baseline rover
 2023-09-30 09:05:08 +10:00
Peter Barker
f358ddd771 AP_GPS: add an AP_GPS_FixType header 
useful when you need nice symbols for the numbers, but are not compiling the GPS headers in
 2023-09-27 14:14:57 -07:00
Peter Barker
0824eca776 AP_GPS: use AP_GPS_ENABLED to exclude more code when GPS not compiled in 2023-09-27 16:38:15 +10:00
Andrew Tridgell
89bd6ab218 AP_GPS: implement the GPS_DRV_OPTION for ellisoid height in mode drivers 
this allows a lot more drivers to use the GPS_DRV_OPTION but to use
ellisoid height. Particularly useful for DroneCAN GPS modules

using ellisoid height instead of AMSL is useful in some specialised
application
 2023-09-21 19:36:26 +10:00
Peter Barker
a391b14a6d AP_GPS: replace utility functions with compiler builtins 2023-09-12 09:48:53 +10:00
Peter Barker
668e2fa068 AP_GPS: use correct define for DroneCAN GPS drivers 2023-09-03 08:43:03 +10:00
Andrew Tridgell
74139423cb AP_GPS: fixes for macos CAN SITL build 2023-08-29 15:09:48 +10:00
Andrew Tridgell
babd2d2033 AP_GPS: removed native_millis/micros 2023-08-24 13:06:40 +10:00
Ryan Friedman
01cd42d1e7 AP_GPS: Allow multiple external AHRS GPS instances 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-08-24 12:01:32 +10:00
Peter Barker
941e9785d4 AP_GPS_NOVA: avoid infinite reading of bytes 
if we have a very fast stream of garbage coming in available() may never return 0
 2023-08-15 08:36:13 +10:00
Ryan Friedman
5b21834827 AP_GPS: Switch to sparse endian to make it portable 
* Instead of custom algorithm to reduce flash and code maintenance

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-08-11 11:21:41 +10:00
Peter Barker
e6ac368972 AP_GPS: make AP_GPS_MAV dependent on HAL_GCS_ENABLED 2023-08-08 11:33:54 +10:00
Peter Barker
6ee9f01ffb AP_GPS: avoid use of mavlink constructs when GCS not compiled in 2023-08-08 11:33:54 +10:00
Peter Barker
bf005731a9 AP_GPS: tidy is_healthy calculations 
this removes some duplicate code and simplifies the flow of control
 2023-08-08 11:31:18 +10:00
Peter Barker
00bc4a9e8b AP_GPS: add and use AP_GPS_DRONECAN_ENABLED 2023-08-02 17:46:30 +10:00
Peter Barker
407cfc22ca AP_GPS: remove code if blended instance is not available 2023-08-01 10:03:19 +10:00
Peter Barker
c45c02ce82 AP_GPS: use AP_AHRS_ENABLED in place of HAL_BUILD_AP_PERIPH 
the guard here is just against use of the singleton
 2023-07-04 10:27:32 +10:00
Peter Barker
5664c0a142 AP_GPS: check delay_ok in one place 2023-07-04 08:15:31 +10:00
Peter Barker
c89ec67333 AP_GPS: move AP_RTC::mktime to be ap_mktime 
in preparation for AP_RTC_ENABLED
 2023-06-27 11:25:11 +10:00
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
Andrew Tridgell
64869b6e16 AP_GPS: fixed RTK injection with moving baseline 
when 2nd DroneCAN GPS on the bus is the base in moving baseline we
need to be able to inject to it
 2023-06-27 10:32:43 +10:00
Peter Barker
6f292c02da AP_GPS: add and use AP_GPS_ENABLED 2023-06-21 22:28:48 +10:00
Andrew Tridgell
0d4018107b AP_GPS: fixed ublox M10S auto-config 
this copes with the M10S rejecting multiple-key VALGET calls. We fall
back to fetching one at a time
 2023-06-13 11:00:47 +10:00
Andrew Tridgell
531b12e272 AP_GPS: fixed RTCM injection for DroneCAN GPS 
need to check broadcast() return
 2023-06-08 10:15:50 +10:00
Alexander Keller
6ba526fa25 AP_GPS:Comform to ardupilot undulation definition 2023-06-08 09:48:30 +10:00
Peter Barker
3f70f2104a AP_GPS: use minimize_features.inc for more features 2023-06-06 10:14:02 +10:00
bugobliterator
5026b3d08c AP_GPS: send RTCM Stream message to over dronecan directly 2023-05-31 17:31:09 +10:00
Ryan Friedman
639ba63560 AP_GPS: Remove gsof zero initialization 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-05-30 09:45:29 +10:00
Peter Barker
e415b5fda0 AP_GPS: add clarifying comment on _configure_config_set method 
it's a bit confusingly named, because it doesn't actually "set" anything - it gets messages from the GPS which are then parsed and responded to based on the received values.
 2023-05-29 09:56:20 +10:00
Ryan Friedman
f092c22915 AP_GPS: Enforce max of 10 GSOF outputs per the manual 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-05-20 14:23:17 +10:00
Ryan Friedman
77e169b226 AP_GPS: Update GSOF docs with newer data 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-05-20 14:22:15 +10:00
Ryan Friedman
a05af3f3c3 AP_GPS: More const for gsofmsgreq 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-05-19 18:43:31 +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
5c815e2c32 AP_GPS: Reduce extra GSOF namespacing since it's all in class scope 
* Also remove in s on enums to follow Peter's conventions
* Fixed incorrect style on class and enum names
 2023-05-17 18:12:44 +10:00
Ryan Friedman
2f5f77712f AP_GPS: Use enum classes in GSOF 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-05-17 18:12:44 +10:00
Ryan Friedman
29a6ae4ea1 AP_GPS: Add missing const to the rest of the headers 
* Related to #23743, but I missed this since I didn't realize the buffer was not modified in-place

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-05-15 12:25:34 +10:00
Ryan Friedman
b8f59b0df5 AP_GPS: Remove unused member variable in gsof driver 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-05-12 19:19:43 +10:00
Ryan Friedman
4b2687352c AP_GPS: Add const and WARN_IF_UNUSED to AP_GPS_GSOF 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-05-11 10:41:17 -07:00
Ryan Friedman
d6569d6f79 AP_GPS: Use SI unit abbreviation 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-04-26 14:08:01 +10:00
Peter Barker
271571e29c AP_GPS_NMEA: fix stringop truncation failure on g++ 9 2023-04-18 11:44:57 +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
f6fa35a1f7 AP_GPS: fixed name length 2023-04-11 10:31:31 +10:00
Andrew Tridgell
834831bfeb AP_GPS: text messages and more defines 2023-04-11 10:31:31 +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
258158b0bc AP_GPS: rename UAVCAN drivers to DroneCAN 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
Ryan Friedman
c6060dd047 AP_GPS: Fix spelling in receiver 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-04-06 09:13:09 +10:00
bugobliterator
09de24f3d2 AP_GPS: replace libuavcan with libcanard based driver 2023-03-29 17:16:39 +11:00
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
84bf020897 AP_GPS: correct config boards include 
Important to include AP_HAL_Boards.h directly, rather than relying on someone else having done it or getting it transitively
 2023-03-19 09:08:41 +11:00
Henry Wurzburg
eeb72637ec AP_GPS:make Unicore reset to rover in all cases 2023-03-07 10:57:20 +11:00
Tom Pittenger
fe37282f77 AP_GPS: allow external libraries to detect CAN instance 2023-03-02 09:22:15 +11:00
Henry Wurzburg
7e214b2695 AP_Compass: add GPYW metadata 2023-03-02 08:37:32 +11:00
Pierre Kancir
8d962f915e AP_GPS: change isnanf for isnan 2023-02-27 04:15:24 -08:00
Andrew Tridgell
fd0bf49ca5 AP_GPS: don't try and configure M10 options on non-M10 GPS 
this fixes a pre-arm failure "GPS 1 failing configuration checks" on
non-M10 GPS modules, including AP_Periph

it also adds the ublox unconfigured msgs to the DroneCAN GNSS.Status
errors field for easier diagnosis of this type of issue in the future
 2023-02-18 15:33:13 +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
17c25780c7 AP_GPS: support UNIHEADINGA message for Unicore NMEA 
this allows for good yaw even without a RTK fix, which makes yaw with
dual-antenna Unicore GPS modules much more useful
 2023-01-08 13:30:11 +11:00
Andrew Tridgell
f53c865c7a AP_GPS: only create GPS logs for active GPS backends 2022-12-20 10:23:58 +11:00
Andrew Tridgell
fc5ae600ef AP_GPS: fixed handling of empty HDT/THS sentences 
fixes #22432
 2022-12-20 10:23:58 +11:00
Andrew Tridgell
761e4a05e2 AP_GPS: don't consume Heading message if we have RelPosHeading 
this avoids 2 conflicting yaw sources
 2022-12-20 10:23:58 +11:00
Andrew Tridgell
b0c006deca AP_GPS: suppress string truncation warnings 2022-12-20 10:23:58 +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
2fd575aca2 AP_GPS: allow for DroneCAN GPS other than u-blox rover with yaw 
single module, dual antenna GPS can give yaw information
 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
3c1a54c3df AP_GPS: added measured lag for Unicore GPS 
measured as 0.14s from flight log
 2022-12-20 10:23:58 +11:00
Andrew Tridgell
9cebe3b880 AP_GPS: added a common velocity_to_speed_course() 
this saves flash using common code
 2022-12-20 10:23:58 +11:00
Andrew Tridgell
29f1c31854 AP_GPS: added GPYW logging for GPS yaw 
this makes it much easier to debug GPS yaw issues, by logging the raw
data even if the yaw is rejected
 2022-12-20 10:23:58 +11:00