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331 Commits

Author SHA1 Message Date
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 
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 
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