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280 Commits

Author SHA1 Message Date
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
Peter Barker
e7ff5107fb AP_GPS: tidy mavlink message handling using switch statement 2017-07-27 12:03:25 +01:00
Peter Barker
2ad453fc89 AP_GPS: handle inject packets as part of handle_msg 2017-07-27 12:03:25 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas
ae47ac5a09 AP_GPS: implement missing "RTK number of satellites" and "RTK correction age" information in the GPS2_RAW MAVLink message 2017-07-19 20:42:23 +09:00
Michael du Breuil
5684a5dd36 AP_GPS: Only setup state's instance field during init 2017-07-18 21:21:50 +01:00
Andrew Tridgell
82e7e44cc3 AP_GPS: fixed UAVCAN as 2nd GPS 
This fixes the issue here:

  https://discuss.ardupilot.org/t/ac3-6-dev-dual-gps-issues/19172

thanks to Francisco for spotting the issue

this is tested with UAVCAN as 2nd GPS, ublox as primary
 2017-07-18 18:57:55 +01:00
Peter Barker
76847a2487 AP_GPS: eliminate GCS_MAVLINK::send_statustext_all 2017-07-11 23:53:53 +01:00
Eugene Shamaev
5341e51f45 AP_GPS: support for multiple instances on different interfaces 2017-07-03 11:44:32 +01:00
Peter Barker
7258cfd20b AP_GPS: check dataflash to see if we should log backend gps messages 2017-06-29 15:43:38 +01:00
Rob Ratcliff
60c6f8ad60 AP_GPS: fix bug when injecting messages bigger than 255 bytes 
Commit 5261654 changed the used injection method so change this method signature to use uint16 for message length like previous injection method did
 2017-06-27 03:06:26 +01:00
Michael du Breuil
249849dfa4 AP_GPS: Add an enum for _auto_config 2017-06-21 11:44:45 +01:00
Michael du Breuil
5f8633e322 AP_GPS: Allow backends to report their lag confidences 2017-06-21 11:44:45 +01:00
priseborough
5dcfc94371 AP_GPS: Add validity boolean to GPS lag reporting 2017-06-21 11:44:45 +01:00
priseborough
bd0229b7bc AP_GPS: Fix bug in calculation of blended GPS delay 2017-06-21 11:44:45 +01:00
Michael du Breuil
6c3db3939e AP_GPS: Update comment on get_rate_ms() 
AP_GPS::get_rate_ms() is only meant to help the GPS backends
 2017-06-12 01:06:38 +01:00
Michael du Breuil
ffe701bda3 AP_GPS: Use a static assert to check that the init blob is small enough 2017-05-31 14:39:53 +01:00
Michael du Breuil
1877d09f7c AP_GPS: Don't track detection time to broadcast baud rate 2017-05-30 23:37:59 +01:00
Michael du Breuil
84598544fb AP_GPS: Don't autodetect NMEA instances 2017-05-30 23:37:59 +01:00
Michael du Breuil
c7a89d5aa0 AP_GPS: Set unknown DOP's to UINT16_MAX, rather then 9999 
This fixes the MAVLink reporting for unknown dops, and avoids the situation where a GPS driver could report a worse DOP then we could handle.

Also corrects an apparent error in the HIL_GPS MAVLink message, where we would always select the unknown dop value rather then provided DOP.
 2017-05-25 11:03:33 -07:00
Michael du Breuil
397ae00526 AP_GPS: SBF report VDOP 2017-05-24 20:03:29 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas
2d5033b132 AP_GPS: Use SI units conventions in parameter units 
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
 2017-05-17 18:07:25 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas
e31ac00f26 AP_GPS: fix spelling in comments 2017-05-08 10:08:31 +09:00
Andrew Tridgell
3687b6bdf0 AP_GPS: rename macros to avoid conflicts 
these macros were also defined in NuttX in clock.h
 2017-05-06 15:21:14 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas
5b67b33310 AP_GPS: Remove un-used AP_GPS::inject_data_all() function 2017-05-01 13:06:18 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas
5261654756 AP_GPS: Only inject RTCM data to the selected GPS device defined in GPS_INJECT_TO parameter 2017-05-01 13:06:18 +01:00
Peter Barker
b7baca8d43 AP_GPS: move GPS type announcements into backend 
See #4584
 2017-04-23 21:04:17 +01:00
Peter Barker
2354a0ec5a AP_GPS: ability to log GPS detection state to dataflash 2017-04-23 21:03:23 +01:00
Peter Barker
94a5e94ec9 AP_GPS: canonicalise statustext messages 
Use "GPS %d" prefix, where %d is instance+1, to correspond
with parameters
 2017-04-23 09:09:30 +10:00
Niels Joubert
4bf9fc071c AP_GPS: Adds SBP Version 2: Swift Navigation Piksi Multi support 
This commit adds:

- New driver for SBPv2
--- Support Piksi Multi, Swift Navigation's multi-band multi-constellation GPS
--- Proper parsing of SBP flags
--- Instant response to Piksi status changes (no more timeouts)
--- Support for Piksi Multi as a Single-Point-Positioning GPS or only onboard GPS
--- Incorporates horizontal and vertical accuracy estimates, and vdop.
- Updates driver for SBPv0
--- Continue support for previous Piksi

- Dispatches correct driver based on SBP version.
 2017-04-18 18:25:54 +01:00
Eugene Shamaev
8130d85b42 AP_GPS: removal of legacy UAVCAN support 2017-04-17 17:27:18 +10:00
Eugene Shamaev
dfe9b0e6fc AP_GPS: support for UAVCAN connected GNSS receivers 2017-04-10 22:38:12 +01:00
Jacob Walser
1b00dfb642 AP_GPS: Fix parameter metadata 2017-03-22 16:16:26 -07:00
Pierre Kancir
afb488c627 AP_GPS: fix implicit conversion warning from float to double 2017-03-17 13:07:57 +01:00
Randy Mackay
b82098ca44 AP_GPS: fix blended ground course 
Thanks to jyl58 for finding this
 2017-03-13 11:21:47 +09:00
Randy Mackay
3e628f30ff AP_GPS: fix blending when accuracy reported as 1mm 
Thanks to Michael DuBreuil for suggesting the fix
 2017-03-13 11:31:51 +11:00
Randy Mackay
2002827de3 AP_GPS: rename pre-arm blending health check 2017-03-13 11:31:51 +11:00