Peter Barker
39b4b80a5f
AP_GPS: create real AP_GPS_Blended backend
2024-08-27 09:26:06 +10:00
Andrew Tridgell
669cb6563b
AP_GPS: allow for EAHRS_SENSORS to not include GPS
...
this allows external AHRS GPS to not be presented to AP_GPS as a
possible driver
2024-08-20 10:27:01 +10:00
Peter Barker
ebfbcacfe3
AP_GPS: tidy pre_arm_checks
2024-07-02 09:56:40 +10:00
Andrew Tridgell
1e075aeb80
AP_GPS: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
Andrew Tridgell
fe42171268
AP_GPS: make get_RelPosHeading boolean
2024-04-23 10:32:43 +10:00
Peter Barker
b03b8309ef
AP_GPS: copy GPS metadata in for pre-per-instance-parameters
...
allows to not break older firmware in terms of available metadata
2024-04-10 16:37:35 +09:00
Peter Barker
a0b2753766
AP_GPS: remove blended GPS from small boards
...
those boards which are not including all backends will lose blended after this
2024-03-26 10:57:35 +11:00
Peter Barker
f487a25e09
AP_GPS: move blended-GPS functions into AP_GPS_Blended
...
collects all of these together in preparation for making a backend
2024-03-20 18:27:28 +11:00
Peter Barker
2a010623b2
AP_GPS: allow forwards/backwards for DroneCAN type autoconfig
...
ArduPilot configures a connected DroneCAN GPS based on its GPS Type.
Given parameter name changes, ArduPilot must be able to configure both new and old AP_Periphs, and new AP_Periphs have to cope with being configured by old ArduPilots.
2024-03-19 19:50:12 +11:00
Peter Barker
9726e55d1c
AP_GPS: rename GPS_ to GPS1_
2024-03-19 19:50:12 +11:00
Peter Barker
50c36de6a4
AP_GPS: add GPS parameter conversion functions
2024-03-19 19:50:12 +11:00
Peter Barker
21fc013016
AP_GPS: use subgroup to hold GPS instance parameters
2024-03-19 19:50:12 +11:00
Peter Barker
8bd05941a1
AP_GPS: stop passing serial manager to GPS init
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it can get this via the singleton
2024-03-19 07:28:55 +11:00
Peter Barker
4811a10e1a
AP_GPS: exclude more code based on HAL_LOGGING_ENABLED
2024-03-19 07:28:23 +11:00
Peter Barker
8ab3b0db37
AP_GPS: correct update_primary check
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takes an instance, not a type
2024-03-12 20:50:18 +11:00
Peter Barker
466b4b6c2e
AP_GPS: create convenience methods is_rtk_base and is_rtk_rover
2024-03-12 08:51:11 +11:00
Peter Barker
b4f5d49adb
AP_GPS: remove redundant check
...
get_type has this sanity check
2024-03-12 08:51:11 +11:00
Peter Barker
093709cbe3
AP_GPS: avoid use of _type
...
some of these methods are taking the instance in externally. Protect by using get_type
2024-03-12 08:51:11 +11:00
Andrew Tridgell
0f6f738a33
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
2024-03-06 19:38:06 +11:00
Andrew Tridgell
d894f7ac5d
AP_GPS: do initial probe at default baudrate
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this makes for much faster probe for most users
2024-02-29 11:00:40 +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
Andrew Tridgell
6aaf6883ef
AP_GPS: make L1/L5 check work on M10 modules too
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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
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* 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
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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
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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
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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
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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
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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
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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
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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
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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
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* 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