Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:
git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'
The 2 commands were done so we don't leave behind spurious spaces.
AVR-specific places were not changed.
The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.
This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.
AVR-specific places were not changed.
Instead of requiring every program to specify the HAL related modules,
let the build system do it (in practice everything we compiled depended
on HAL anyway). This allow including only the necessary files in the
compilation.
The switching between different AP_HAL was happening by giving different
definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to
instantiate.
A program or library code would have to explicitly include (and depend)
on the concrete implementation of the HAL, even when using it only via
interface.
The proposed change move this dependency to be link time. There is a
AP_HAL::get_HAL() function that is used by the client code. Each
implementation of HAL provides its own definition of this function,
returning the appropriate concrete instance.
Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was
removed.
The static variables for PX4 and VRBRAIN were named differently to avoid
shadowing the extern symbol 'hal'.
Fixes the issue of three unused variables, two of which were used in a
commented Debug() call.
To keep the convenient debug message (and the variable names for the
data bytes), this patch uncomment the debug call but wrap the variables
and the debug call around an ifdef for the local symbol
gsof_DEBUGGING. So by turning it on, the debug will already be in place.
The Debug() call was modified to actually compile and include the third
variable in the output.
This is really just calculating the hamming weight of the GNSS_MODE bitmask, but I don't know if the APM compiler could handle the GCC intrinsic that could calculate it faster, and this is done so rarely there isn't a significant penalty to using the for loop.
This commit changes the way libraries headers are included in source files:
- If the header is in the same directory the source belongs to, so the
notation '#include ""' is used with the path relative to the directory
containing the source.
- If the header is outside the directory containing the source, then we use
the notation '#include <>' with the path relative to libraries folder.
Some of the advantages of such approach:
- Only one search path for libraries headers.
- OSs like Windows may have a better lookup time.
Provides a stable fallback, and can be considered fairly safe from the perspective that it provides a worse value then the hDOP under almost all scenarios.
Ublox 7 and 8 seires use a UBX-CFG-GNSS message to enable satellite constellations. The default value does not enable any additional ones, and any constellations the reciever doesn't report knowing about are not configured.
Remove race condition on sending intial blob to the GPS, it was possible to send a blob that got the GPS configured enough to allow the autodetect to take over (and then some drivers like ublox would not finish sending the blob, which has potential details that the driver might have needed to send)
Limit the delay to checking for NMEA gps to only checking after all the available baud rates have been checked
Since a UBlox will actually report having DGPS (due to SBAS or RTCM data) actually report this as the highest supported mode
Rapid switching between GPS receivers can cause real problems.
Switch if:
1) secondary GPS has 1 more satellite for at least 20 seconds
OR
2) secondary GPS has 2 more satellites for at least 5 seconds
Fixes https://github.com/diydrones/ardupilot/pull/2320
DRIVER FEATURES:
- All logic for RTK vs Normal now lives inside Piksi
- Supports observation uplink through telem radio
- Supports full SBP packet logging
- Reports high-rate green blinking to indicate RTK lock.
- Switchable to accept only Float or Integer RTK locks.
THIS REQUIRES PIKSI FIRMWARE v0.14 OR HIGHER
- Uses Piksi's new Pseudo-Absolute-Positioning mode
- Onboard Piksi must have Pseudo-Absolute mode enabled
- Ground Station Piksi must have a surveyed location in settings
- Ground Station Piksi must send its location to Onboard Piksi.
NEXT STEPS REQUIRED:
- EKF needs to take higher accuracy GPS into account
- EKF needs to take GPS RTK height into account
- GCS needs to support sending SBP observation packets
--- MAVProxy patch forthcoming
to ensure the GCS knows that we have lost the GPS we need to keep
reporting GPS_RAW_INT messages when the GPS disappears. Sending at 1Hz
should be sufficient
Fixes issue #1722
Lucas De Marchi
Caio Marcelo de Oliveira Filho
Michael Oborne
Michael du Breuil
Andy Piper
Andrew Tridgell
Randy Mackay
Tom Pittenger
Gustavo Jose de Sousa
Julien BERAUD
kozinalexey
dzollo
mirkix
Eugene Shamaev
Peter Barker
Peter Barker
Micheal Knight
Niels Joubert
Staroselskii Georgii
ustas
Grant Morphett
Holger Steinhaus