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
Andrew Tridgell
5bfb6ced84
AP_GPS: fixed u-blox F9 auto configuration
2019-07-05 13:31:40 +10:00
Michael du Breuil
eed710db5f
AP_GPS: Fix a lot of unneded example includes
2019-06-18 10:02:05 +10:00
Peter Barker
73c81519da
AP_GPS: fix missing-declaration warning in example
2019-06-04 10:25:15 +10:00
Michael Oborne
6031f5b6a9
AP_GPS_UBLOX: add support for TIMEGPS message. used to get gps week
2019-05-29 09:48:17 +10:00
Andrew Tridgell
9f5a598697
AP_GPS: removed unusued AP_Common/Semaphore.h
2019-05-15 15:33:48 +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
Pierre Kancir
deb6aafcbe
AP_GPS: fix GPS_AUTO_test
2019-05-01 14:17:34 -07:00
Michael du Breuil
e6d97f63a5
AP_GPS: Remove unneeded wrappers
2019-04-26 08:07:19 +10:00
Michael du Breuil
cc679db55b
AP_GPS: Log reciever status to GPS SD card
...
This improves log analysis of bad GPS health messages when you have a
report of bad GPS health but lost the MAVLink message, or didn't have
access to the autopilot log with the information for some reason.
2019-04-14 13:24:36 -07:00
Michael du Breuil
32c583bd20
AP_GPS: Remove external event from GPS data stream
...
If the event pin floats, this can lead to UART congestion, causing the
EKF to reject the GPS data, and the vehicle will drift around the sky in
a most disturbing manner
2019-04-14 13:24:36 -07:00
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
Sagnik Bhattacharya
47f3720040
AP_GPS: add more comments to example and improved existing
2019-04-02 19:41:45 +11:00
Peter Barker
81d51b1d1a
AP_GPS: move print_latlon into sole caller
2019-04-02 10:19:38 +11:00
Michael du Breuil
833bc8f12a
AP_GPS: Ensure that all ublox configuration failure reasons have a description
2019-04-02 08:15:59 +11:00
Tom Pittenger
12c3446777
AP_GPS: rename dataflash to logger
2019-03-28 16:40:57 +11:00
Francisco Ferreira
5a64f8d8ba
AP_GPS: use proper macro in array sizes
2019-03-07 19:48:32 -07:00
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
Peter Barker
2aa0de49bb
AP_GPS: remove pointless initialisers
2019-02-26 09:53:28 +11:00
Peter Barker
4194812633
AP_GPS: uavcan: reindent after WITH_SEMAPHORE change (NFC)
2019-02-16 14:33:11 +11:00
Peter Barker
1ffbc0ae56
AP_GPS: uavcan: use WITH_SEMAPHORE in place of give/take _registry
2019-02-16 14:33:11 +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
Ben Kurtz
a525f30573
AP_GPS: update implementation of SBP2 flags
...
Some flags were out of date or named incorrectly.
Updates based on protocol version 2.4.1, documented here:
b02e8d835c/docs/sbp.pdf
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
Arjun Vinod
978cea97cf
AP_GPS: whitespace and typo fixes
2019-01-05 08:45:24 +09:00
Randy Mackay
c7287bb98f
AP_GPS: add range to POS param description
2018-12-13 20:13:58 +09:00
Andrew Tridgell
7c50aacc92
AP_GPS: moved place we graph uart timestamp
2018-12-04 11:37:38 +11:00
Andrew Tridgell
685771c145
AP_GPS: constrain rate_ms from 5Hz to 20Hz
2018-12-04 11:37:38 +11:00
Andrew Tridgell
7a4b8d76c1
AP_GPS: added jitter correction to timestamp calculation
...
this allows for much more accurate (and consistent) timestamping of GPS
messages where the protocol has a ITOW field.
2018-12-04 11:37:38 +11:00
Andrew Tridgell
d761b24b92
AP_GPS: optionally configure a hardware PPS pin for uBlox
...
useful for testing time lag estimation
2018-12-04 11:37:38 +11:00
Andrew Tridgell
2eae4901c1
AP_GPS: look for iTow on uBlox MSG_STATUS
2018-12-04 11:37:38 +11:00
Andrew Tridgell
b5f3750014
AP_GPS: convert NOVA, SBP and SBP2 to use check_new_itow()
2018-12-04 11:37:38 +11:00
Andrew Tridgell
df68d6413c
AP_GPS: moved iTow handling to GPS_Backend
2018-12-04 11:37:38 +11:00
Andrew Tridgell
4af857da44
AP_GPS: adjust NMEA sentence length calculation
...
review feedback
2018-12-04 11:37:38 +11:00
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
Andrew Tridgell
2512b73106
AP_GPS: added ability to disable GPS
...
this is used for GPS loss testing in real vehicles, by linking it to a
RCn_OPTION value. GPS position is still logged, but is not used
2018-11-29 08:49:23 +11:00
Peter Barker
fd888727b8
AP_GPS: add override keyword where required
2018-11-08 11:30:12 +11:00
Michael du Breuil
d6944510da
AP_GPS: Suppress clearing non-trival type warning
2018-10-30 16:17:03 -07:00
ebethon
f67a9af339
AP_GPS: fix SBAS mode in the SBP2 driver
2018-10-24 13:12:34 -07:00
Andrew Tridgell
249291eac0
AP_GPS: use WITH_SEMAPHORE()
...
and removed usage of hal.util->new_semaphore()
2018-10-17 12:54:22 +11:00
Peter Barker
40daa8e15f
AP_GPS: use mavlink definition to get statustext size
...
Also, add one for null-termination
2018-10-16 10:11:28 +11:00
liang.tang
7885b267f0
AP_GPS: fix UAVCAN gps message handlers
2018-09-05 17:23:14 +10:00
Michael du Breuil
70e587b572
AP_GPS: Fix accidental quantization to float on SBF logging
2018-08-31 01:16:31 +01:00
Siddharth Purohit
ca54123b7d
AP_GPS: move UAVCAN GPS related code to AP_GPS_UAVCAN backend
2018-08-29 22:54:59 +01:00
Patrick José Pereira
10ffd89a0c
AP_GPS: Remove unused operation
...
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
2018-08-27 23:35:34 +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
Michael du Breuil
cca6b54921
AP_GPS: Remove unneeded field limitations
...
Saves ~1100 bytes of flash
2018-08-01 09:19:20 +10:00
Michael du Breuil
fcb1c4cdfd
AP_GPS: Remove unused ADC include
2018-07-17 09:29:50 +10:00
Alexander Remizov
dc15cbd513
AP_GPS: fixed ublox configuration
2018-06-24 15:25:00 -07:00
Andrew Tridgell
796291f176
AP_GPS: improved ccache build speed
...
making this header equal improves speed of fmuv2 build after fmuv3
build with ccache, without affecting binary
2018-06-22 11:13:03 +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
Andrew Tridgell
dc2a776985
AP_GPS: fixed fake ublox 3D lock PVT speed accuracy
...
allows EKF to startup fully with fake GPS lock
2018-06-06 07:15:41 +10:00
Francisco Ferreira
5fc7da0e83
AP_GPS: remove Qualcomm board support
2018-05-17 09:57:20 +10:00
Michael du Breuil
53c66106d6
AP_GPS: Remove unneeded intilizers
...
saves 160 bytes on make px4-v2
2018-05-16 20:34:00 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
9b9932ca9c
AP_GPS: Document septentrio RXERROR flags
2018-05-06 20:32:39 -06:00
Andrew Tridgell
4e1d310959
AP_GPS: fixed use of pow()
2018-05-07 11:43:23 +10:00
Andrew Tridgell
53d36c02ae
AP_GPS: enable double precision maths where needed
2018-05-07 11:43:23 +10:00
Michael du Breuil
88ea7ac5fa
AP_GPS: Remove software check from SBF driver
2018-05-06 14:52:04 -06:00
Michael du Breuil
b1a3e0a537
AP_GPS: Report when SBF errors change
2018-04-24 12:32:35 -07:00
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
Michael du Breuil
362fb470c4
AP_GPS: Allow HIL_GPS to flag vertical velocity
...
Closes #7997
2018-04-10 17:01:21 +01:00
Michael du Breuil
a21eb12f9e
AP_GPS: Correct HIL_GPS altitude conversion
2018-04-02 20:21:20 -07:00
Peter Barker
816045c1ab
AP_GPS: correct compiler warnings
...
In file included from ../../libraries/AP_GPS/AP_GPS_SBF.cpp:22:
../../libraries/AP_GPS/AP_GPS_SBF.h:75:14: warning: private field
'last_injected_data_ms' is not used [-Wunused-private-field]
uint32_t last_injected_data_ms = 0;
^
../../libraries/AP_GPS/AP_GPS_SBF.h:210:7: warning: private field
'RxError_bits' is not used [-Wunused-private-field]
} RxError_bits;
2018-03-02 09:26:37 +09:00
chobits
ea1a6b2044
AP_GPS: set have_vertical_velocity if MAVLink GPS report it
2018-03-01 14:31:56 -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
Andrew Tridgell
d2c9e2719e
AP_GPS: removed create() method for objects
...
See discussion here:
https://github.com/ArduPilot/ardupilot/issues/7331
we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach
Thanks to assistance from Lucas, Peter and Francisco
2017-12-14 08:12:28 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas
9b2e48ce10
AP_GPS: Improve comments (NFC)
2017-12-05 10:44:58 +09:00
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
e0c2a45eec
AP_GPS: support GPS_RTK and GPS2_RTK messages in Emlid reach modules. Requires Reach FW >= 2.7.4
2017-10-30 18:28:20 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
c0dd7984ad
AP_GPS: Publish information on the GPS*_RTK mavlink messages
2017-10-30 18:28:20 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
bf6778277e
AP_GPS: implement GPS*_RTK mavlink messages
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
b0e18de576
AP_GPS: Remove detect helpers for MTK/SIRF when minimizing the build
...
Removes 16 bytes
2017-10-22 03:03:29 +01:00
Michael du Breuil
0300f86913
AP_GPS: u-blox: Log unconfigured messages
2017-10-06 12:53:32 +01:00
Michael du Breuil
3023fac4d0
AP_GPS: SBF enable comment block logging
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This is intended to help with GCS's injecting custom data to the GPS
2017-09-27 19:29:32 +01:00
Michael du Breuil
561acb372e
AP_GPS: SBF send port enable string on start
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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
Michael du Breuil
0d522663b2
AP_GPS: SBF: fix the PVTMode to support PPK (and baseline) units
2017-09-27 19:29:32 +01:00
Michael du Breuil
80b71b9ced
AP_GPS: SBF: Validate that configuration was accepted
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Note: The config string of "spm, Rover, StandAlone+SBAS+DGPS+RTK\n" is
incompatible with AsteRx-M FW 3.6.3 and will result in refusing to
arm/pass configuration checks
2017-09-27 19:29:32 +01:00
Michael du Breuil
20988b9f05
AP_GPS: SBF respect GPS_AUTO_CONFIG
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
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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)
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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
Lucas De Marchi
b05610870c
global: use static method to construct AP_Rally
2017-09-26 03:01:21 +01:00
Lucas De Marchi
69b6d95cb2
global: use static method to construct AP_Board_Config{,_CAN}
2017-09-26 03:01:21 +01:00
Lucas De Marchi
72fd2d6f05
global: use static method to construct AP_SerialManager
2017-09-26 03:01:21 +01:00
Lucas De Marchi
8094482f21
global: use static method to construct AP_GPS
2017-09-26 03:01:21 +01:00
Lucas De Marchi
2cb2727a31
AP_GPS: add static create method
2017-09-26 03:01:21 +01:00
chobitsfan
02cfe9128d
AP_GPS: parse RTK status in NMEA GGA message
2017-09-15 22:33:47 +01:00
Michael du Breuil
2f8f2ffd2d
AP_GPS: Remove NMEA init blobs for binary drivers
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All of the init strings that were sent in the NMEA driver are for GPS protocols
which have binary drivers, which provide far more features and are more robust.
It also appears that due to driver changes the config strings for SIRF/UBLOX
were no longer correct anyways).
2017-09-15 14:30:48 -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
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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
Michael du Breuil
be371e09f9
AP_GPS: SBF: Reject short packets early, allow 256 byte long messages to be decoded
2017-09-06 10:41:36 +10:00
Andrew Tridgell
048dfee68a
AP_GPS: make SBF driver more robust
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this fixes a crash bug in the SBF GPS driver where a badly formed packet
could cause crc16_ccitt to reference invalid memory
2017-09-06 10:41:33 +10:00
Lucas De Marchi
b62e8909c4
AP_GPS: add missing fallthrough
2017-09-01 13:45:22 -07:00
Lucas De Marchi
3414883f05
AP_GPS: remove tabs and fix coding style
2017-08-22 23:59:13 -07:00
Lucas De Marchi
8389158d76
AP_GPS: use FALLTHROUGH define
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When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
2017-08-22 23:59:13 -07:00
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
b791fef7cb
AP_GPS: Publish the number of satellites in the RTK correction messages, and the age of the RTK correction messages
2017-07-19 20:42:23 +09:00
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
Dr.-Ing. Amilcar Do Carmo Lucas
059c213d19
AP_GPS: Improve comments and documentation (NFC)
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
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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
Michael du Breuil
cb1b9b6674
AP_GPS: Fix SBF race condition on start
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Unsure what the underlying problem is, but the length of the first string in
the initilisation_blob increasing resulted in a race condition, waiting
longer before retrying the message resolves it, but we still need to identify
the underlying problem. This patch just results in the GPS working with current
configurations. Tested against AsteRx-M firmware 3.6.3
2017-07-11 09:40:02 +09:00
Eugene Shamaev
5341e51f45
AP_GPS: support for multiple instances on different interfaces
2017-07-03 11:44:32 +01:00
Peter Barker
cbe9627bf5
AP_GPS: correct example
2017-06-29 15:43:38 +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
Francisco Ferreira
f35f0d59dd
AP_GPS: fix SBP2 driver build warnings by using memcpy
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Build gave the following warnings:
../../libraries/AP_GPS/AP_GPS_SBP2.cpp: In member function ‘void AP_GPS_SBP2::_sbp_process_message()’:
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:181:78: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_heartbeat = *((struct sbp_heartbeat_t*)parser_state.msg_buff);
^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:181:28: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_heartbeat = *((struct sbp_heartbeat_t*)parser_state.msg_buff);
^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:186:76: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_gps_time = *((struct sbp_gps_time_t*)parser_state.msg_buff);
^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:186:27: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_gps_time = *((struct sbp_gps_time_t*)parser_state.msg_buff);
^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:190:74: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_vel_ned = *((struct sbp_vel_ned_t*)parser_state.msg_buff);
^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:190:26: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_vel_ned = *((struct sbp_vel_ned_t*)parser_state.msg_buff);
^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:194:74: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_pos_llh = *((struct sbp_pos_llh_t*)parser_state.msg_buff);
^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:194:26: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_pos_llh = *((struct sbp_pos_llh_t*)parser_state.msg_buff);
^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:198:68: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_dops = *((struct sbp_dops_t*)parser_state.msg_buff);
^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:198:23: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_dops = *((struct sbp_dops_t*)parser_state.msg_buff);
^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:202:74: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_event = *((struct sbp_ext_event_t*)parser_state.msg_buff);
^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:202:24: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_event = *((struct sbp_ext_event_t*)parser_state.msg_buff);
^
2017-06-29 15:18:09 +01:00
ebethon
005dbf41a7
AP_GPS: Add SBP EXT_EVENT Message to dataflash log
2017-06-29 15:18:05 +01:00
ebethon
4779a8f1f1
AP_GPS: Rename SBR1/SBR2 to SBRH/SBRM and change format
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Add (sender_id, msg_len) in SBRM message
Add index/pages in SBRH/SBRM messages
Change format to integers to avoid GCS string parsing
Decrease data size in SBRH
2017-06-29 15:14:54 +01:00
Rob Ratcliff
60c6f8ad60
AP_GPS: fix bug when injecting messages bigger than 255 bytes
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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()
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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
a1479c4138
AP_GPS: SBF report driver lag
2017-05-26 17:42:15 +01:00
Michael du Breuil
3da3ad05bf
AP_GPS: SBF report velocity accuracy
2017-05-26 17:42:15 +01:00
Michael du Breuil
c7a89d5aa0
AP_GPS: Set unknown DOP's to UINT16_MAX, rather then 9999
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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
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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
Peter Barker
e9ce3aa0ce
AP_GPS: use HAL_SEMAPHORE_BLOCK_FOREVER macro
2017-05-08 10:23:03 +09:00
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
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these macros were also defined in NuttX in clock.h
2017-05-06 15:21:14 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas
1691a39b36
AP_GPS: spell in comments
2017-05-03 08:45:08 +09:00