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368 Commits

Author SHA1 Message Date
Andrew Tridgell 137e4e051c AP_GPS: do initial probe at default baudrate 
this makes for much faster probe for most users
 2024-03-14 11:29:35 +11:00
Andrew Tridgell b261466258 AP_GPS: added option to decode RTCM injected data 
this allows for redundent RTCM links (eg. WiFi and SiK links for light
show drones) without causing corruption into the GPS.

If the GPS_DRV_OPTION bit is set then we instantiate a separate RTCM3
decoder per mavlink channel, and only inject when we get a full packet
that passes the RTCM 24 bit CRC
 2024-03-14 11:29:35 +11:00
Andrew Piper d919478bdd AP_GPS: fragments_received is a bitmask not a count 2024-03-14 11:29:35 +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 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
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
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
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 668e2fa068 AP_GPS: use correct define for DroneCAN GPS drivers 2023-09-03 08:43:03 +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 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 407cfc22ca AP_GPS: remove code if blended instance is not available 2023-08-01 10:03:19 +10:00
Peter Barker 5664c0a142 AP_GPS: check delay_ok in one place 2023-07-04 08:15:31 +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
Peter Barker a16c9cf64e AP_GPS: log fragments used/fragments discarded for RTCM injection data 2023-05-17 18:37:43 +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 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 8829f54d89 AP_GPS: rename AP_UAVCAN to AP_DroneCAN 2023-04-08 07:11:23 +10:00
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 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 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 d7a3c643a6 AP_GPS: improved unicore setup 
log version information and improve auto-bauding
 2022-12-20 10:23:58 +11:00
Andrew Tridgell a7c5c6b728 AP_GPS: allow for disabling of NMEA Unicore support 2022-12-20 10:23:58 +11:00
Andrew Tridgell ad9dfe2d51 AP_GPS: added support for Unicore NMEA GPS 
this includes dual-antenna moving baseline support, 3D velocity and accuracies
 2022-12-20 10:23:58 +11:00
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