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Commit Graph

883 Commits

Author SHA1 Message Date
Michael du Breuil
f227d67d58 AP_GPS: Remove unused enum 2021-03-03 10:00:15 +09:00
Peter Barker
9da9d8c94b AP_GPS: provide method for getting single char representing fix type 
Should allow us to be consistent across places in the code base that
need a compact representation for a user display.
 2021-02-18 08:59:23 +11:00
Peter Barker
c2cba52ad8 AP_GPS: move gps logging structures into AP_GPS 2021-02-17 11:30:01 +11:00
Michael du Breuil
4c4e613f6a AP_GPS: Don't send SBF config unless there is free space in the port 2021-02-15 16:31:45 -07:00
Michael du Breuil
4d42996068 AP_GPS: Force the buadrate on SBF units 2021-02-15 16:31:45 -07:00
Michael du Breuil
5f3b1b92a4 AP_GPS: SBF don't send configuration until we've recieved a prompt 
This fixes a configuration problem with SBF unit's where sometimes we
fail to detect the GPS unit continously, until it's been manually
configured. This was tested by doing a hard reset to the GPS unit.

This also now accepts a set of defines from the hwdef, or build
environment, which allows us to specify extra config options.
 2021-02-05 11:52:29 -07:00
Michael du Breuil
d9ffd04a96 AP_GPS: Broadcast the detect message on AP_Periph over CAN 2021-02-05 11:52:29 -07:00
Patrick José Pereira
6bdc1704f4 AP_GPS: Remove pointer check before delete 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-04 09:01:19 +11:00
Patrick José Pereira
2e75425a2a AP_GPS: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Michael du Breuil
0f363809f5 AP_GPS: Fix some unit errors with the GPS blended instance 
Also add a static assert and some docs on the fact that blending only
works with 2 actual recievers at the moment

Also a small optimization to not call get_rate_ms() twice
 2021-01-28 11:55:30 +11:00
Peter Barker
d426d8e1f8 AP_GPS: use ground_course in preference to ground_course_cd 2021-01-26 10:22:28 +11:00
E Thomas
2ee052b36e AP_GPS: Made GPS_DISABLE prevent last_fix_time_ms updates 2021-01-23 17:25:00 +11:00
Michael Oborne
d2720da4a2 AP_GPS: support yaw for UAVCAN GPS 2021-01-07 15:56:28 +11:00
Andrew Tridgell
bf51478dd1 AP_GPS: added ExternalAHRS backend 2021-01-05 21:13:12 +11:00
Ari Krupnik
1d288316cc AP_GPS: standard spelling of variant 2020-12-25 00:01:50 +11:00
Andrew Tridgell
e02047861a AP_GPS: convert to using hal.serial() instead of hal.uartX 2020-12-15 10:32:46 +11:00
Andrew Tridgell
1a4f094025 AP_GPS: allow hwdef override of default for GPS_COM_PORT 2020-12-06 16:48:08 +11:00
Andrew Tridgell
92bcc7667c AP_GPS: allow for SBF GPS on F3 AP_Periph 2020-12-06 16:48:08 +11:00
Andrew Tridgell
862ae59e28 AP_GPS: support $PHD message for AllyStay NMEA GPS 
this adds vertical velocity support
 2020-12-01 09:04:43 +11:00
Hwurzburg
7a82898e92 AP_GPS: expand gps rate description 2020-11-26 18:25:29 +11:00
Andrew Tridgell
05194ed8b6 AP_GPS: don't accept infinite accuracies for blending 
these result in NaN values for velocities
 2020-11-24 12:00:41 +11:00
Andrew Tridgell
83c479bcc2 AP_GPS: prevent UAVCAN GPS from giving infinite accuracy values 
this can happen due to the complex encodings of accuracies in UAVCAN
 2020-11-24 12:00:41 +11:00
Andrew Tridgell
a762926526 AP_GPS: fixed constrained NaN in EKF3 caused by bad GPS blending 
if the accuracies reported are very low then we can do a division by
zero and this results in a constraining NaN for GPS vertical velocity
filter in NavEKF3_core::calcGpsGoodToAlign
 2020-11-24 12:00:41 +11:00
Peter Barker
e257dd9fee AP_GPS: correct logging for GPS blending 2020-11-20 09:45:57 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
58f0c34612 AP_GPS: fix dataflash logging of blended GPS instance 2020-11-20 09:45:57 +11:00
Peter Barker
428c9ef0e1 AP_GPS: correct logging in dual-ublox setups 2020-11-10 17:39:51 +11:00
Andrew Tridgell
6c4e552a0b AP_GPS: removed have_ekf_logging() 2020-11-10 16:15:45 +11:00
Iampete1
60951a7891 AP_GPS: add use primary if 3D fix GPS_AUTO_SWITCH option 2020-11-10 12:01:56 +11:00
Iampete1
347723dbaf AP_GPS: add primary param 2020-11-10 12:01:56 +11:00
Michael du Breuil
b30c55b3f3 AP_GPS: Support yaw from moving base station on SBF drivers 2020-11-03 11:12:20 +11:00
Michael du Breuil
4161e2eb28 AP_GPS: Factor out moving base offset helper 2020-11-03 11:12:20 +11:00
Michael du Breuil
a61444cec0 AP_GPS: Don't reset the entire buffer when handling RTCM data 
This is a micro optimization intended to just make handling GPS
corrections a bit faster.
 2020-10-25 14:21:39 +11:00
murata
4c835a0df9 AP_GPS: Move the CRC24 to the AP_Math class 2020-10-21 18:24:07 +11:00
Andrew Tridgell
e529d475d4 AP_GPS: use mktime for NMEA and MTK time conversion 
this fixes NMEA time handling, which was off by 3 days
 2020-10-20 11:21:00 +11:00
Andrew Tridgell
e995a198bd AP_GPS: always send GPS2_RAW if 2nd GPS configured 
this improves the display on the GCS when the GPS has not yet been
found. This is particularly important after a reboot, as otherwise the
GCS may display stale information from the previous boot
 2020-10-06 16:48:19 +11:00
Andrew Tridgell
8e08d93026 AP_GPS: fixed pre-arm check on ublox M9 GPS 
this prevents a failure from config of SOL and TMODE messages
 2020-10-06 10:22:52 +11:00
Donione
ff80be19c1 AP_GPS: fix type and update reserved bytes in ublox PVT 2020-09-28 16:31:14 -07:00
Andrew Tridgell
8c1bc94053 AP_GPS: fixed build warnings for MSP with AP_Periph 2020-09-15 09:40:03 +10:00
Andrew Tridgell
94670879f8 AP_GPS: allow hwdef.dat override of GPS rate 2020-09-09 06:35:50 +10:00
yaapu
85b61d6bf3 AP_GPS: added support for MSP GPS sensors 2020-09-09 06:35:50 +10:00
Andrew Tridgell
5647aadbcf AP_GPS: added API for getting last iTOW 2020-09-09 06:35:50 +10:00
Andrew Tridgell
56b743dfca AP_GPS: build SBF driver with double precision 2020-09-03 09:56:29 +10:00
Michael du Breuil
6a8680d31d AP_GPS: Send RTK baseline data from SBF 2020-09-03 09:56:29 +10:00
Andrew Tridgell
87c7781be2 AP_GPS: show GPS as unhealthy if it is lagged too much 
this detects GPS data lag, and if 5 samples in a row are lagged by
more than 50ms beyond the expected lag for the GPS then we declare the
GPS as unhealthy.

This is useful to detect users who have asked for more data from the
GPS then it can send at the baudrate that is being used. The case that
led to this path was a F9 GPS with GPS_RAW_DATA=1 at 115200 baud. In
that case the UART data is quickly lagged by over 1s
 2020-08-25 10:22:05 +10:00
Siddharth Purohit
0690b7bd68 AP_GPS: move to using CANManager library 2020-08-19 17:31:09 +10:00
Michael du Breuil
08d4e1c062 AP_GPS: Support configuring the SBF com port 2020-08-13 15:04:38 +10:00
Iampete1
997ffcf30d AP_GPS: NMEA: only decode each measage once 2020-08-09 11:37:16 +10:00
Siddharth Purohit
d122f00c14 AP_GPS: redetection not necessary for UAVCAN GPS 2020-07-29 17:32:56 +10:00
Tom Pittenger
8f6e9caf93 AP_GPS: change GPS_AUTO_SWITCH #define list to enum class 
enumeration entry had to change to NONE to avoid name conflict with DISABLED
 2020-06-25 11:10:31 +10:00
Andrew Tridgell
4aa10a6c30 AP_GPS: added force_disable_yaw() API 2020-06-18 15:01:00 +10:00