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51 Commits

Author SHA1 Message Date
Andrew Tridgell 786e4cf705 AP_GPS: added last_message_time_ms() API 
used to help GPS logging
 2013-04-28 14:53:02 +10:00
Andrew Tridgell f5d062d5ba AP_GPS: move byte swapping code to cpp 2013-04-28 14:51:37 +10:00
Andrew Tridgell 8d727614b4 AP_GPS: make status() const 2013-04-20 13:52:36 +10:00
Andrew Tridgell b3ec5187f2 AP_GPS: fixed uninitialied variable bugs found with valgrind 2013-04-17 23:02:13 +10:00
Randy Mackay 27309a553f GPS: fixes after review 
Ensure 3D fix before returning velocity_down
UBLOX: restore check of fix_status as part of determining 2D or 3D fix
SIRF: add missing brackets on fix type check
 2013-03-27 11:41:54 +09:00
Randy Mackay d7454bb09e GPS: add 2D fix type 2013-03-27 11:41:39 +09:00
Andrew Tridgell 551950c573 GPS_UBLOX: fixed auto-config of baudrate 
this fixes the setting of the baudrate on a uBlox that is configured
for 9600. It fixes the NMEA message to have a \r\n, plus sends the
NAV_SOL rate config before the NMEA baudrate config message.

This fixes issue #159
 2013-03-17 17:52:48 +11:00
Andrew Tridgell f67480fa50 AP_GPS: ensure constructors zero all key variables 
this prevents a crash on PX4 if a GPS is attached after startup
 2013-02-20 11:33:39 +11:00
Andrew Tridgell 18db7b2efd GPS: move _port setting to init() 
this is needed to avoid constructor ordering dependencies
 2012-12-20 14:52:32 +11:00
Andrew Tridgell 18fb9c67f6 AP_GPS: use AP_Progmem 2012-12-20 14:51:39 +11:00
Pat Hickey 9ed023aeb4 AP_GPS: Builds under AP_HAL. Not tested. 2012-12-20 14:51:25 +11:00
Andrew Tridgell 2e63b3ae8e AP_GPS: added in two more dynamic model enums 2012-11-22 16:23:29 +11:00
Andrew Tridgell e74e730992 AP_GPS: added velocity_down() call 
on GPSes with raw velocity support this will be used for DCM
correction
 2012-11-05 14:58:40 +11:00
Andrew Tridgell a53cbc08f3 GPS: avoid output delays in the GPS auto detection 
this sends out the GPS init strings in 16 byte chunks to avoid causing
timing glitches when no GPS is attached
 2012-10-18 16:18:32 +11:00
rmackay9 50a97f3092 AP_GPS: added get_lag method to return expected lag from the GPS. 2012-09-20 15:48:22 +09:00
Andrew Tridgell 59b44816ec GPS: replaced the GPS auto-detect mechanism 
the old mechanism wasted most of the input bytes, and chewed a lot of
CPU, making it impractical to do GPS detection for a GPS attached
after startup

The new code is async, and detects a GPS by looking for a fully formed
packet with the right checksum for each GPS type
 2012-09-17 14:45:47 +10:00
uncrustify 97035fbead uncrustify libraries/AP_GPS/GPS.h 2012-08-21 19:19:52 -07:00
rmackay9 c10d01f24b AP_GPS: revert delay callback to be "unsigned long" 2012-08-18 20:33:45 +09:00
rmackay9 8a29f47ce0 AP_GPS: replaced "int" with "int16_t" and "long" with "int32_t" 2012-08-18 16:35:38 +09:00
Andrew Tridgell 2d47bd0386 GPS: support getting raw velocity values from a UBlox 
this may give better velocity numbers than the value from COG
 2012-08-15 20:06:35 +10:00
Andrew Tridgell 618f43bef6 AP_GPS: added last_ground_speed() method 
used for dead-reckoning in AHRS
 2012-08-11 11:59:47 +10:00
Andrew Tridgell 8a6fcf998b AP_GPS: fixed types to be stdint types 2012-08-11 11:59:03 +10:00
Andrew Tridgell 37db5247cd GPS: added velocity and acceleration components 
used by AHRS for acceleration correction
 2012-06-27 16:01:49 +10:00
rmackay9 068fe64b9b ArduCopter HIL: changed calls to setHIL to send in time as a uint32_t (it was a float) 2012-06-26 22:50:17 +09:00
Andrew Tridgell a851c53de4 GPS: need pgmspace.h for _write_progstr_block() 2012-06-15 16:27:11 +10:00
Andrew Tridgell 70f18289c5 GPS: fixed auto-config of UBlox setup with no UBX messages 
if a UBlox is configured for NMEA only, with no UBX messages at all
then it would never trigger the GPS_AUTO detection. This adds a UBX
config message to the init strings that enables the NAV_SOL message
 2012-06-15 15:53:27 +10:00
Andrew Tridgell 33a2ad7e07 GPS: add stub settings for nav_setting in the other GPS drivers 
only Ublox supports nav_setting so far
 2012-06-10 16:34:53 +10:00
Jason Short 73e23aab2a GPS time set to unsigned int32 2012-06-03 11:13:50 -07:00
Andrew Tridgell 4dff78b9c0 GPS: expose last_fix_time 2012-03-10 10:34:32 +11:00
Andrew Tridgell 57f67ca6e3 GPS: added an acceleration estimate to the GPS driver 
This uses the GPS ground speed to estimate acceleration
 2012-03-10 10:34:30 +11:00
James Goppert 14d27b1e4c Cleaned up AP_GPS formatting. 2011-10-28 14:52:50 -04:00
Andrew Tridgell 6048f3870f GPS: fixed type to be consistent with declaration 2011-10-09 22:08:59 +11:00
tridge60@gmail.com 91e101f47e GPS: added delay hook for GPS detection 
this allows for MAVLink to be up during GPS detection

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2987 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-31 22:34:37 +00:00
deweibel@gmail.com 8d7e7ff58e revert gps lib to 2602 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2608 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-21 01:38:31 +00:00
deweibel@gmail.com 26d1ec1f56 remove static declaration from idleTimeout 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2607 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-21 01:26:57 +00:00
deweibel@gmail.com 5b9e7eff9d clean up idleTimeout 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2606 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-21 01:20:39 +00:00
jasonshort 76d072591b made timeout public, settable 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2563 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-16 16:33:08 +00:00
deweibel@gmail.com 4f514faf97 Small bug fix for HIL gps when using auto-detect 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1663 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-16 18:19:07 +00:00
deweibel e620eb1326 Change MediaTek timestamps to millisecond Time of Day 
Add epoch method to return timestamp epoch.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1589 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-01 23:50:36 +00:00
DrZiplok 2c0e8515d5 Add a date field to the standard GPS data. This may be zero, and its format is TBD (may be GPS-dependent). 
Increase the no-data timeout to slightly more than a second, so that GPS' with a 1Hz update rate don't cause problems.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1461 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-10 00:44:09 +00:00
DrZiplok@gmail.com f2f38f2e71 Make the GPS ctor protected so that it can't be accidentally constructed or copied. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1353 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-29 03:32:37 +00:00
DrZiplok@gmail.com 8da4a29d58 Add support for the DIYD MTK v1.6 firmware 
Nuke AP_GPS_IMU, as nothing is using it anymore.
Simplify the handling of no GPS/no fix detection.
Fix prototypes for ::init and ::read.
Update AP_GPS_Auto and corresponding example, nearly ready for primetime.
Use uint8_t rather than byte.
Strip some _error() calls to save space.  More could still go.



git-svn-id: https://arducopter.googlecode.com/svn/trunk@1246 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-24 06:35:09 +00:00
james.goppert aa115aea68 AP_GPS libs now recover from disconnect or failed initialization. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1188 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-19 13:24:29 +00:00
DrZiplok@gmail.com cb4e8144f4 Eliminate GPS::_error, as it's responsible for pulling in the old printf, which doesn't work anymore. Fixing it's not worth the effort. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@955 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-11-27 08:46:41 +00:00
DrZiplok 2e5be5d86b Revert the MTK GPS driver to only claiming a fix when the GPS has a 3D solution, per discussion with Paul. 
Minor tidying and documentation.



git-svn-id: https://arducopter.googlecode.com/svn/trunk@683 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-10-17 20:13:53 +00:00
DrZiplok@gmail.com 0a94520682 Add support for automatically detecting the connected GPS and configuring accordingly. 
Note that this is currently disabled as changes need to be made to APM to support it.

Tested with MTK, u-blox and SiRF GPS'.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@671 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-10-17 06:06:04 +00:00
paulbmather@gmail.com 079dd3c617 Changes to accommodate blinking lights and loss of GPS commands. Tested with NMEA, uBlox, Sirf and MTK. Does not function correctly with rmack's changes to APM_Compass posted 10/17/2010 (I don't know why). 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@669 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-10-17 04:07:46 +00:00
DrZiplok@gmail.com 31ab494aaa Jason's GPS_None pointed out a few changes that in turn drastically simplify it. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@431 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-07 05:57:39 +00:00
DrZiplok@gmail.com add89239f3 Rework the MTK protocol decoder for robustness and code size. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@417 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-06 20:00:57 +00:00
DrZiplok@gmail.com 96a80f1c66 Cleanup. 
Teach AP_GPS about FastSerial (in the few places it needs to know) and about Stream everywhere else.

Do some minor code cleanup.

Tested with Mega and uBlox.  Some issues (e.g. reporting 0 satelites) remain.



git-svn-id: https://arducopter.googlecode.com/svn/trunk@404 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-06 09:20:44 +00:00