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1163 Commits

Author SHA1 Message Date
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
Andrew Tridgell 78858bbcdd AP_GPS: switch ublox over to 230400 baud 
this ensures we have sufficient bandwidth for raw data
 2020-06-01 17:18:17 -07:00
Andrew Tridgell 529bfe8fcd AP_GPS: fixed issue with GPS selection for moving baseline 
when you have a moving baseline pair of ublox GPS modules and the
rover GPS does not have full fixed RTK lock on the base GPS then we
should not use it as our primary GPS as it's position and velocity can
be badly affected by the attempts of the GPS to gain a fixed lock.

This was observed in a flight with two F9P GPS, where the GPS velocity
data from the rover GPS went way off when it lost full RTK lock. It's
status stayed at 4, so it was selected as the primary GPS
 2020-05-27 10:59:46 +10:00
Andrew Tridgell f00392d567 AP_GPS: don't accept a zero GNSS timestamp from UAVCAN GPS 
this is needed for a bug in AP_Periph 1.0 which could briefly send a
zero timestamp on first fix marked as a UTC time
 2020-04-29 12:20:19 +10:00
Andrew Tridgell 4f591a338f AP_GPS: use GCS_SEND_TEXT() 2020-04-29 07:36:55 +10:00
Andrew Tridgell 6347d0adb0 AP_GPS: leave uart2 config enabled when using uart2 MB setup 2020-04-21 15:30:54 +10:00
Andrew Tridgell f3a5d915f3 AP_GPS: allow for larger average delta on MB rover than normal 2020-04-21 15:30:54 +10:00
Andrew Tridgell 36098c3221 AP_GPS: improved delay health threshold 
allow for missing frames without showing unhealthy on GCS
 2020-04-21 15:30:54 +10:00
Andrew Tridgell 3397ed766d AP_GPS: enable ublox moving baseline compilation option 
disable for HAL_MINIMIZE_FEATURES and if max receivers 1. This fixes
the f103-GPS AP_Periph build
 2020-04-21 15:30:54 +10:00
Andrew Tridgell ae2132d861 AP_GPS: added check for Z error in moving baseline ublox 
this ensures we don't get bad yaw from having the right distance but
incorrect Z offset for the currently expected roll/pitch
 2020-04-21 15:30:54 +10:00
Andrew Tridgell 7027eecd34 AP_GPS: added GPS_DRV_OPTIONS 
this allows for configuration of moving baseline with either uart1 or
uart2 for the RTCM data. Using uart2 requires an extra cable between
the two modules, but requires less uart bandwidth which is good when
DMA channels are low. Using uart2 also avoids the rtcmv3 parser, which
saves memory
 2020-04-21 15:30:54 +10:00
Andrew Tridgell 9a6de209ab AP_GPS: ensure that PVT and RELPOSNED msgs time align 
this ensures we wait until we have a matching PVT and RELPOSNED
message before we report new data. If we stop receiving RELPOSNED
messages then disable yaw support
 2020-04-21 15:30:54 +10:00
Andrew Tridgell 3fbeae613b AP_GPS: fixed moving baseline yaw calculation 
this reverts #13955 and instead applies the correct fix, which is to
subtract the angle instead of adding.
 2020-04-21 15:30:54 +10:00
Andrew Tridgell 077ab22767 AP_GPS: fixed AP_Periph build with gcc 9.x 2020-04-01 17:08:48 +11:00
Andrew Tridgell 4456732911 AP_GPS: fixed rotation of moving baseline GPS 
we were off by 180 degrees. Thanks to Jaime for noticing this!
 2020-04-01 17:08:19 +11:00
Peter Barker 2b08af69bc AP_GPS: fix dereference-of-nullptr warning from scan-build 
This is kind-of a false positive as this in practise could never be
nullptr.
 2020-03-31 10:37:16 +11:00
Andrew Tridgell f00314a5d1 AP_GPS: removed dead blending code 2020-03-17 12:13:54 +11:00
Andrew Tridgell 9fa034d1de AP_GPS: fixed antenna offset for blending 
we were accessing beyond the end of the antenna_offset array
 2020-03-17 12:13:54 +11:00
Randy Mackay a19634b9d2 AP_GPS: reduce POS param range to 5m and add increment 2020-02-01 08:46:03 +09:00
Andrew Tridgell 7efd5248ee AP_GPS: added get_type() API 2020-01-26 09:12:55 +11:00
Andrew Tridgell e59f32074d AP_GPS: fixed yaw error when one GPS has zero position 
the M_PI correction was only valid for one zero side. Much simpler to
always calculate difference
 2020-01-24 11:46:40 +11:00
Andrew Tridgell cf8becfa71 AP_GPS: make all semaphores recursive 
the cost is very similar and this prevents an easy coding error which
can occur on less used code paths
 2020-01-19 20:19:30 +11:00
Andrew Tridgell f0d1d3fa90 AP_GPS: added get_semaphore() 2020-01-16 20:36:54 +11:00
Andrew Tridgell db777c56b9 AP_GPS: provide yaw feedback in GPS_RAW_INT and GPS2_RAW 
allow GPS to display status of GPS yaw for moving baseline and NMEA
 2020-01-07 12:37:35 +11:00
Andrew Tridgell e40c570615 AP_GPS: faster config of moving baseline 
thanks to MdB for suggestion
 2020-01-07 12:37:35 +11:00
Andrew Tridgell e660532f67 AP_GPS: fixes from PR review 2020-01-07 12:37:35 +11:00
Andrew Tridgell 41289fe945 AP_GPS: adjust lag for MB RTK ublox 
rover will lag by about 40ms
 2020-01-07 12:37:35 +11:00
Andrew Tridgell b86c43aa66 AP_GPS: prefer RTK MB rover when it has yaw available 
this ensures that yaw data is time aligned with position and velocity
data
 2020-01-07 12:37:35 +11:00
Andrew Tridgell 261465ef96 AP_GPS: split out update_primary() from update() 
this makes the selection of primary GPS a lot clearer, with less
nesting of if statements
 2020-01-07 12:37:35 +11:00
Andrew Tridgell 93aaf98672 AP_GPS: added automatic u-blox moving baseline configuration 
this uses GPS_TYPE and GPS_TYPE2 to setup two u-blox F9 receivers in a
RTK moving baseline configuration
 2020-01-07 12:37:35 +11:00
Andrew Tridgell 71a0f3a1dc AP_GPS: added RTCMv3 parser 
will be used for moving baseline support
 2020-01-07 12:37:35 +11:00
Andrew Tridgell 6efbc484fd AP_GPS: cope with UAVCAN GPS that don't provide Aux message 
thanks to @VadimZ for the suggestion
 2019-12-05 15:48:51 -07:00
Michael du Breuil 8ca6535661 AP_GPS: Log SBF commanded disarms 2019-11-20 11:06:16 -07:00
Michael du Breuil f8808022b8 AP_GPS: Check the driver logging health 2019-11-20 11:06:16 -07:00
Andrew Tridgell 379e3d60a1 AP_GPS: fixed sizes of config items 2019-11-16 15:28:52 +11:00
Michael du Breuil 63a6a1084c AP_GPS: UBlox: Fix the assumption that all keys are 1 byte keys 2019-11-16 15:28:52 +11:00
Michael du Breuil 150a4edcf2 AP_GPS: UBlox fix not listing the time mode as a configuration reason 2019-11-16 15:28:52 +11:00
Andrew Tridgell 7bec9d87b4 AP_GPS: fixed TMODE config issue on non-F9 GPS 
thanks to Michel Pastor for reporting this
 2019-11-16 15:28:52 +11:00
Andrew Tridgell 8aa781206d AP_GPS: fixed signed/unsigned comparisons 2019-11-09 17:11:32 +11:00
Andrew Tridgell b7c9391619 AP_GPS: support Fix2 message for UAVCAN 
this allows for RTK fix levels
 2019-11-09 17:11:32 +11:00
Andrew Tridgell 632114d687 AP_GPS: support RTCMStream for RTCM injection on UAVCAN 2019-11-09 17:11:32 +11:00
Andrew Tridgell 6c31fb1bb6 AP_GPS: added automatic config of TMODE on F9 
the Drotek F9 GPS ships with TMODE enabled, which means we don't get a
3D fix.

This also adds the VALGET/VALSET msgs we will need for automatic
moving baseline config
 2019-11-09 17:11:32 +11:00
Michael du Breuil d623da0de6 AP_GPS: Always send GPS2_RAW after we've seen the second GPS 
This significantly improves the GCS's ability to correctly display whats
happening with the second GPS.
 2019-11-02 10:35:08 +11:00
Michael du Breuil 5bafd7d72c AP_GPS: Don't defeat the GCS message interval code 2019-10-28 00:26:28 -07:00
Andrew Tridgell 14cdac9202 AP_GPS: fixed GPS to UART mapping 
this allows for first GPS as UAVCAN and 2nd as UART. That is not
possible currently unless you waste a uart
 2019-10-24 14:37:30 +11:00
Andrew Tridgell 00260db65a AP_GPS: fixed UAVCAN GPS status when disconnected 
this fixes the status reported for a UAVCAN GPS when the cable is
unplugged. It should be "NO GPS", but was instead reporting "NO
FIX". The user had no way to distinguish between not finding a CAN GPS
at all and it not getting satellites

thanks to CUAV for reporting
 2019-10-14 19:08:37 -06:00
Andrew Tridgell 37fb028532 AP_GPS: improved checking for valid yaw for moving baseline 
and fixed check for carrSolnFixed
 2019-10-15 11:06:11 +11:00
Michael du Breuil 2587b13ae7 AP_GPS: UBLOX: Parse RELPOSNED messages 
This does not yet:
  - validate the receiver configuration
  - manage timing out stale GPS heading info
  - relPosNormalized usage isn't clear, which may defeat the STRICT_LENGTH_CHECK
 2019-10-15 11:06:11 +11:00
Andrew Tridgell b5217412f9 AP_GPS: fixed a bug in handling corrupt u-blox packets 
when we have corrupt input due to loss of bytes on a UART we can end
up with a u-blox packet with zero payload bytes. When that happens we
need to bypass payload reading as otherwise we will end up keeping
reading bytes until the driver resets at 4 seconds, causing a GPS
outage.

This was causing GPS outages every few hours in copters running 3.6.7,
and was also reproduced in SITL using SIM_GPS_BYTELOSS.
 2019-09-30 15:20:30 -06:00
Andrew Tridgell 9eb6c1be64 AP_GPS: use jitter correction on GPS_INPUT data 
this allows for more accurate timing when using GPS_INPUT for indoor
positioning systems
 2019-09-17 09:17:04 +10:00
Michael du Breuil f857eb4640 AP_GPS: Take responsibility for logging the GPS if the EKF wants logging 2019-09-10 09:09:17 +10:00
Michael du Breuil ca0dad9a7f AP_GPS: Directly include needed headers 2019-08-28 13:13:03 +10:00
Andrew Tridgell 291d72601b AP_GPS: enabled reduced size for AP_Periph support 2019-08-27 10:29:56 +10:00
Peter Barker 8c21a279ea AP_GPS: examples: var_info is now in GCS_MAVLINK_Parameters 2019-08-14 18:25:43 +10:00
Andrew Tridgell 8d7262994b AP_GPS: support yaw in GPS_INPUT mavlink GPS 
useful for Vicon setups
 2019-08-12 10:25:40 +10:00
murata e4455491aa AP_GPS: Use common hexadecimal character to number conversion method 2019-08-06 10:14:12 +10:00
Peter Barker 46ad04aab7 AP_GPS: correct format string warnings in SBF driver 2019-08-05 11:20:35 +10:00
Andrew Tridgell be9c98db12 AP_GPS: ensure we have full timestamp before setting RTC clock 
thanks to Martin Sollie for this bug report
 2019-07-31 20:13:55 +10:00
Michael du Breuil d33006a2e7 AP_GPS: Refactor first_unconfigured_gps to return bool 2019-07-30 10:12:43 +10:00
Randy Mackay 64637dba8f AP_GPS: resolve gcs::send_text compiler warning 2019-07-30 09:02:39 +09:00
Peter Barker 678c11f048 AP_GPS: supply format string to send_text 2019-07-26 10:54:41 +10:00
Pierre Kancir 13ac187fd8 AP_GPS: pass mavlink_message_t by const reference 2019-07-16 20:51:42 +10:00
Grant Morphett 64ed76326b AP_GPS: Adding support for the NMEA GPHDT sentence 
The NMEA GPHDT sentence can be used to determine the vehicles bearing
instead of a compass even when the vehicle is stationary.  This type
of GPS is normally very expensive and does the bearing using some sort
of phase ambituity algorithm.
 2019-07-13 11:05:57 +10:00
Andrew Tridgell 5bfb6ced84 AP_GPS: fixed u-blox F9 auto configuration 2019-07-05 13:31:40 +10:00
Michael du Breuil eed710db5f AP_GPS: Fix a lot of unneded example includes 2019-06-18 10:02:05 +10:00
Peter Barker 73c81519da AP_GPS: fix missing-declaration warning in example 2019-06-04 10:25:15 +10:00
Michael Oborne 6031f5b6a9 AP_GPS_UBLOX: add support for TIMEGPS message. used to get gps week 2019-05-29 09:48:17 +10:00
Andrew Tridgell 9f5a598697 AP_GPS: removed unusued AP_Common/Semaphore.h 2019-05-15 15:33:48 +10:00
Michael du Breuil 7871040bb6 AP_GPS: Pass an in range value for the param initilizer 2019-05-13 15:46:38 +10:00
Pierre Kancir deb6aafcbe AP_GPS: fix GPS_AUTO_test 2019-05-01 14:17:34 -07:00
Michael du Breuil e6d97f63a5 AP_GPS: Remove unneeded wrappers 2019-04-26 08:07:19 +10:00
Michael du Breuil cc679db55b AP_GPS: Log reciever status to GPS SD card 
This improves log analysis of bad GPS health messages when you have a
report of bad GPS health but lost the MAVLink message, or didn't have
access to the autopilot log with the information for some reason.
 2019-04-14 13:24:36 -07:00
Michael du Breuil 32c583bd20 AP_GPS: Remove external event from GPS data stream 
If the event pin floats, this can lead to UART congestion, causing the
EKF to reject the GPS data, and the vehicle will drift around the sky in
a most disturbing manner
 2019-04-14 13:24:36 -07:00
Pierre Kancir 36f12e9818 AP_GPS: use get_distance_NED 2019-04-09 20:59:48 +10:00
Pierre Kancir 4ea10ce5f5 AP_GPS: use get_distance_NE instead of location_diff 2019-04-08 08:00:52 -07:00
Michael du Breuil 27ad9ac3ca AP_GPS: Refactor get_singleton() to return a pointer 2019-04-05 23:09:47 -07:00
Michael du Breuil 52eb832883 AP_GPS: Remove stuff from headers 2019-04-05 20:12:53 +11:00
Sagnik Bhattacharya 47f3720040 AP_GPS: add more comments to example and improved existing 2019-04-02 19:41:45 +11:00
Peter Barker 81d51b1d1a AP_GPS: move print_latlon into sole caller 2019-04-02 10:19:38 +11:00
Michael du Breuil 833bc8f12a AP_GPS: Ensure that all ublox configuration failure reasons have a description 2019-04-02 08:15:59 +11:00
Tom Pittenger 12c3446777 AP_GPS: rename dataflash to logger 2019-03-28 16:40:57 +11:00
Francisco Ferreira 5a64f8d8ba AP_GPS: use proper macro in array sizes 2019-03-07 19:48:32 -07:00
Francisco Ferreira ba5ef18ef7 AP_GPS: correct blending check 2019-03-07 19:48:32 -07:00
Francisco Ferreira cb1ce70ae8 AP_GPS: fix out-of-bounds array access 2019-03-07 19:48:32 -07:00
Dr.-Ing. Amilcar do Carmo Lucas d7edd396bd AP_GPS: replace location_offset() and get_distance() function calls with Location object member function calls 
This allows removing duplicated code
 2019-02-28 11:44:09 +11:00
Peter Barker 2aa0de49bb AP_GPS: remove pointless initialisers 2019-02-26 09:53:28 +11:00
Peter Barker 4194812633 AP_GPS: uavcan: reindent after WITH_SEMAPHORE change (NFC) 2019-02-16 14:33:11 +11:00
Peter Barker 1ffbc0ae56 AP_GPS: uavcan: use WITH_SEMAPHORE in place of give/take _registry 2019-02-16 14:33:11 +11:00
Tom Pittenger 5d66c3ed62 AP_GPS: unify singleton naming to _singleton and get_singleton() 2019-02-10 19:09:58 -07:00
Ben Kurtz 08092ea72b AP_GPS: fix typo in log message 2019-01-31 03:07:30 +00:00
Ben Kurtz a525f30573 AP_GPS: update implementation of SBP2 flags 
Some flags were out of date or named incorrectly.

Updates based on protocol version 2.4.1, documented here:
b02e8d835c/docs/sbp.pdf
 2019-01-31 03:07:30 +00:00
Peter Barker 6fc76a32af GLOBAL: use AP::logger() and strip redundant Log_ from methods 2019-01-18 18:08:20 +11:00
Peter Barker b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Peter Barker 30980815a8 AP_GPS: adjust for Location_Class and Location unification 2019-01-16 11:45:29 +11:00
Peter Barker 30d5d6b578 AP_GPS: do not zero options after assigning from location 
On the assumption that the assignment operator knows what it is doing,
and that we have no idea what fields are actually present in options
 2019-01-16 11:45:29 +11:00
Arjun Vinod 978cea97cf AP_GPS: whitespace and typo fixes 2019-01-05 08:45:24 +09:00
Randy Mackay c7287bb98f AP_GPS: add range to POS param description 2018-12-13 20:13:58 +09:00
Andrew Tridgell 7c50aacc92 AP_GPS: moved place we graph uart timestamp 2018-12-04 11:37:38 +11:00
Andrew Tridgell 685771c145 AP_GPS: constrain rate_ms from 5Hz to 20Hz 2018-12-04 11:37:38 +11:00
Andrew Tridgell 7a4b8d76c1 AP_GPS: added jitter correction to timestamp calculation 
this allows for much more accurate (and consistent) timestamping of GPS
messages where the protocol has a ITOW field.
 2018-12-04 11:37:38 +11:00
Andrew Tridgell d761b24b92 AP_GPS: optionally configure a hardware PPS pin for uBlox 
useful for testing time lag estimation
 2018-12-04 11:37:38 +11:00
Andrew Tridgell 2eae4901c1 AP_GPS: look for iTow on uBlox MSG_STATUS 2018-12-04 11:37:38 +11:00
Andrew Tridgell b5f3750014 AP_GPS: convert NOVA, SBP and SBP2 to use check_new_itow() 2018-12-04 11:37:38 +11:00
Andrew Tridgell df68d6413c AP_GPS: moved iTow handling to GPS_Backend 2018-12-04 11:37:38 +11:00
Andrew Tridgell 4af857da44 AP_GPS: adjust NMEA sentence length calculation 
review feedback
 2018-12-04 11:37:38 +11:00
Andrew Tridgell 3fe4b9c0f8 AP_GPS: make GPS packet timestamps more accurate 
this reduces the effect of processing time and uart transmit time
 2018-12-04 11:37:38 +11:00
Andrew Tridgell 2512b73106 AP_GPS: added ability to disable GPS 
this is used for GPS loss testing in real vehicles, by linking it to a
RCn_OPTION value. GPS position is still logged, but is not used
 2018-11-29 08:49:23 +11:00
Peter Barker fd888727b8 AP_GPS: add override keyword where required 2018-11-08 11:30:12 +11:00
Michael du Breuil d6944510da AP_GPS: Suppress clearing non-trival type warning 2018-10-30 16:17:03 -07:00
ebethon f67a9af339 AP_GPS: fix SBAS mode in the SBP2 driver 2018-10-24 13:12:34 -07:00
Andrew Tridgell 249291eac0 AP_GPS: use WITH_SEMAPHORE() 
and removed usage of hal.util->new_semaphore()
 2018-10-17 12:54:22 +11:00
Peter Barker 40daa8e15f AP_GPS: use mavlink definition to get statustext size 
Also, add one for null-termination
 2018-10-16 10:11:28 +11:00
liang.tang 7885b267f0 AP_GPS: fix UAVCAN gps message handlers 2018-09-05 17:23:14 +10:00
Michael du Breuil 70e587b572 AP_GPS: Fix accidental quantization to float on SBF logging 2018-08-31 01:16:31 +01:00
Siddharth Purohit ca54123b7d AP_GPS: move UAVCAN GPS related code to AP_GPS_UAVCAN backend 2018-08-29 22:54:59 +01:00
Patrick José Pereira 10ffd89a0c AP_GPS: Remove unused operation 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2018-08-27 23:35:34 +01:00
Dr.-Ing. Amilcar do Carmo Lucas 9c97f35b19 AP_GPS: Use GPS_AUTO_SWITCH parameter to choose exacly which GPS to use 2018-08-26 01:05:09 -07:00
Francisco Ferreira b29369eb82
AP_GPS: adapt to changes in AP_BoardConfig_CAN 2018-08-12 13:35:03 +01:00
Michael du Breuil 1a406dacfc AP_GPS: Ensure a lag value is always provided 
The value may not be the optimal value for the driver, but we should
always try to provide a value for the caller
 2018-08-07 09:55:26 +10:00
Michael du Breuil cca6b54921 AP_GPS: Remove unneeded field limitations 
Saves ~1100 bytes of flash
 2018-08-01 09:19:20 +10:00
Michael du Breuil fcb1c4cdfd AP_GPS: Remove unused ADC include 2018-07-17 09:29:50 +10:00
Alexander Remizov dc15cbd513 AP_GPS: fixed ublox configuration 2018-06-24 15:25:00 -07:00
Andrew Tridgell 796291f176 AP_GPS: improved ccache build speed 
making this header equal improves speed of fmuv2 build after fmuv3
build with ccache, without affecting binary
 2018-06-22 11:13:03 +10:00
Peter Barker 5b41db5120 AP_GPS: use AP_RTC 
set the system time from a GPS if we have a 3D fix or better
 2018-06-15 08:01:22 +10:00
Eugene Shamaev 9985d4a937 AP_GPS: uniform naming 2018-06-09 22:46:48 -07:00
Eugene Shamaev 9f27a65f4b AP_GPS: helper func 2018-06-09 22:46:48 -07:00
Eugene Shamaev a805b3ce18 AP_GPS: reducing indenting by linearizing the logic 2018-06-09 22:46:48 -07:00
Andrew Tridgell dc2a776985 AP_GPS: fixed fake ublox 3D lock PVT speed accuracy 
allows EKF to startup fully with fake GPS lock
 2018-06-06 07:15:41 +10:00
Francisco Ferreira 5fc7da0e83 AP_GPS: remove Qualcomm board support 2018-05-17 09:57:20 +10:00
Michael du Breuil 53c66106d6 AP_GPS: Remove unneeded intilizers 
saves 160 bytes on make px4-v2
 2018-05-16 20:34:00 +10:00
Dr.-Ing. Amilcar do Carmo Lucas 9b9932ca9c AP_GPS: Document septentrio RXERROR flags 2018-05-06 20:32:39 -06:00
Andrew Tridgell 4e1d310959 AP_GPS: fixed use of pow() 2018-05-07 11:43:23 +10:00
Andrew Tridgell 53d36c02ae AP_GPS: enable double precision maths where needed 2018-05-07 11:43:23 +10:00
Michael du Breuil 88ea7ac5fa AP_GPS: Remove software check from SBF driver 2018-05-06 14:52:04 -06:00
Michael du Breuil b1a3e0a537 AP_GPS: Report when SBF errors change 2018-04-24 12:32:35 -07:00
Peter Barker 643e7e039a AP_GPS: log received data 
Also log a set of flag values if a driver is deleted
 2018-04-18 13:50:55 +09:00
Patrick José Pereira a255c47c33 AP_GPS: Do not restart driver if type is defined as MAV 
Fix bluerobotics/ardusub#104

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2018-04-16 17:08:39 -07:00
Michael du Breuil 362fb470c4 AP_GPS: Allow HIL_GPS to flag vertical velocity 
Closes #7997
 2018-04-10 17:01:21 +01:00
Michael du Breuil a21eb12f9e AP_GPS: Correct HIL_GPS altitude conversion 2018-04-02 20:21:20 -07:00
Peter Barker 816045c1ab AP_GPS: correct compiler warnings 
In file included from ../../libraries/AP_GPS/AP_GPS_SBF.cpp:22:
../../libraries/AP_GPS/AP_GPS_SBF.h:75:14: warning: private field
'last_injected_data_ms' is not used [-Wunused-private-field]
    uint32_t last_injected_data_ms = 0;
             ^
../../libraries/AP_GPS/AP_GPS_SBF.h:210:7: warning: private field
'RxError_bits' is not used [-Wunused-private-field]
    } RxError_bits;
 2018-03-02 09:26:37 +09:00
chobits ea1a6b2044 AP_GPS: set have_vertical_velocity if MAVLink GPS report it 2018-03-01 14:31:56 -07:00
Tom Pittenger 793f50808d AP_GPS: add param defaults for EMLID_EDGE for GPS_TYPE=9 2018-02-13 15:29:53 +11:00
Michael du Breuil 9e37e9ee82 AP_GPS: Remove unused blending function. 
Thanks to ender-chen for noticing, closes #7510
 2018-01-09 12:52:32 -08:00
Dr.-Ing. Amilcar Do Carmo Lucas 479d4be3fd AP_GPS: Add horizontal, vertical and speed accuracy to the GPS_RAW_INT message 2018-01-09 13:01:05 +11:00
Andrew Tridgell d2c9e2719e AP_GPS: removed create() method for objects 
See discussion here:

  https://github.com/ArduPilot/ardupilot/issues/7331

we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach

Thanks to assistance from Lucas, Peter and Francisco
 2017-12-14 08:12:28 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas 9b2e48ce10 AP_GPS: Improve comments (NFC) 2017-12-05 10:44:58 +09:00
Peter Barker 47f8ed7fab AP_GPS: set GPS_SAVE_CFG default to save GPS config as required 2017-11-29 00:58:43 -07:00
Andrew Tridgell 9677d570e9 AP_GPS: faster GPS lock 
use 9600 and 115200 first
 2017-11-29 00:58:43 -07:00
Peter Barker 693823ae0d AP_GPS: add gps() to AP:: namespace 2017-11-15 13:43:03 +00:00
Michael du Breuil 236e74c529 AP_GPS: Singleton 2017-11-06 01:33:57 +00:00
Michael du Breuil c856cc6f33 AP_GPS: Allow GPS's to run functions on arming (used by SBF) 
Supports starting/stopping GPS logging
 2017-11-06 01:33:57 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas 68828511cd AP_GPS: Only send GPS*_RTK mavlink messages if the backend supports them 2017-10-30 18:28:20 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas e0c2a45eec AP_GPS: support GPS_RTK and GPS2_RTK messages in Emlid reach modules. Requires Reach FW >= 2.7.4 2017-10-30 18:28:20 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas c0dd7984ad AP_GPS: Publish information on the GPS*_RTK mavlink messages 2017-10-30 18:28:20 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas bf6778277e AP_GPS: implement GPS*_RTK mavlink messages 2017-10-30 18:28:20 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas 430b863f42 AP_GPS: Replace hardcoded duplicated end_mavlink_gps*_rtk() function with a flexible one 2017-10-30 18:28:20 +00:00
Michael du Breuil b0e18de576 AP_GPS: Remove detect helpers for MTK/SIRF when minimizing the build 
Removes 16 bytes
 2017-10-22 03:03:29 +01:00
Michael du Breuil 0300f86913 AP_GPS: u-blox: Log unconfigured messages 2017-10-06 12:53:32 +01:00
Michael du Breuil 3023fac4d0 AP_GPS: SBF enable comment block logging 
This is intended to help with GCS's injecting custom data to the GPS
 2017-09-27 19:29:32 +01:00
Michael du Breuil 561acb372e AP_GPS: SBF send port enable string on start 
Also prohibts SBF, GSOF, NOVA drivers from getting config strings not
meant for them
 2017-09-27 19:29:32 +01:00
Michael du Breuil bfbec02736 AP_GPS: SBF track the GPS error bits 2017-09-27 19:29:32 +01:00
Michael du Breuil 0d522663b2 AP_GPS: SBF: fix the PVTMode to support PPK (and baseline) units 2017-09-27 19:29:32 +01:00
Michael du Breuil 80b71b9ced AP_GPS: SBF: Validate that configuration was accepted 
Note: The config string of "spm, Rover, StandAlone+SBAS+DGPS+RTK\n" is
incompatible with AsteRx-M FW 3.6.3 and will result in refusing to
arm/pass configuration checks
 2017-09-27 19:29:32 +01:00
Michael du Breuil 20988b9f05 AP_GPS: SBF respect GPS_AUTO_CONFIG 2017-09-27 19:29:32 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas 09baac8f25 AP_GPS: Preserve the instance number, otherwise it will get set to zero 
Signed-off-by: Dr.-Ing. Amilcar Do Carmo Lucas <amilcar.lucas@iav.de>
 2017-09-26 23:15:10 -07:00
Dr.-Ing. Amilcar Do Carmo Lucas 8b9fb19061 AP_GPS: Added const just to be explicit (NFC) 
Signed-off-by: Dr.-Ing. Amilcar Do Carmo Lucas <amilcar.lucas@iav.de>
 2017-09-26 23:15:10 -07:00
Dr.-Ing. Amilcar Do Carmo Lucas 175b7c5389 AP_GPS: spellcheck in coment (NFC) 2017-09-26 23:15:10 -07:00
Lucas De Marchi b05610870c global: use static method to construct AP_Rally 2017-09-26 03:01:21 +01:00
Lucas De Marchi 69b6d95cb2 global: use static method to construct AP_Board_Config{,_CAN} 2017-09-26 03:01:21 +01:00
Lucas De Marchi 72fd2d6f05 global: use static method to construct AP_SerialManager 2017-09-26 03:01:21 +01:00
Lucas De Marchi 8094482f21 global: use static method to construct AP_GPS 2017-09-26 03:01:21 +01:00
Lucas De Marchi 2cb2727a31 AP_GPS: add static create method 2017-09-26 03:01:21 +01:00
chobitsfan 02cfe9128d AP_GPS: parse RTK status in NMEA GGA message 2017-09-15 22:33:47 +01:00
Michael du Breuil 2f8f2ffd2d AP_GPS: Remove NMEA init blobs for binary drivers 
All of the init strings that were sent in the NMEA driver are for GPS protocols
which have binary drivers, which provide far more features and are more robust.
It also appears that due to driver changes the config strings for SIRF/UBLOX
were no longer correct anyways).
 2017-09-15 14:30:48 -07:00
Dr.-Ing. Amilcar Do Carmo Lucas d3a18e803e AP_GPS: Fix MAVLink message field SYSTEM_TIME.time_unix_usec when GPS_AUTO_SWITCH = blend 
The mavlink message field SYSTEM_TIME.time_unix_usec works fine with GPS_AUTO_SWITCH == 0 (no switch) or ==1 (usebest)
But when GPS_AUTO_SWITCH == 2 (blend) then state[GPS_BLENDED_INSTANCE].last_gps_time_ms gets initialized with 0 and never rewritten.

The consequence: SYSTEM_TIME.time_unix_usec gets stuck at zero.
The solution: Do not reset state[GPS_BLENDED_INSTANCE].last_gps_time_ms because it would overwrite the correct value already set on line 1149
 2017-09-14 12:38:30 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas e03826890a AP_GPS: Fix typo in comment 2017-09-13 14:22:57 -07:00
Michael du Breuil 04eb7f411e AP_GPS: Track the delta time between the last GPS positions 2017-09-13 13:36:40 +01:00
Michael du Breuil be371e09f9 AP_GPS: SBF: Reject short packets early, allow 256 byte long messages to be decoded 2017-09-06 10:41:36 +10:00
Andrew Tridgell 048dfee68a AP_GPS: make SBF driver more robust 
this fixes a crash bug in the SBF GPS driver where a badly formed packet
could cause crc16_ccitt to reference invalid memory
 2017-09-06 10:41:33 +10:00
Lucas De Marchi b62e8909c4 AP_GPS: add missing fallthrough 2017-09-01 13:45:22 -07:00
Lucas De Marchi 3414883f05 AP_GPS: remove tabs and fix coding style 2017-08-22 23:59:13 -07:00
Lucas De Marchi 8389158d76 AP_GPS: use FALLTHROUGH define 
When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
 2017-08-22 23:59:13 -07:00
Peter Barker 7f59279670 AP_GPS: make time_epoch_usec const 2017-07-28 14:27:53 +01:00
Peter Barker e7ff5107fb AP_GPS: tidy mavlink message handling using switch statement 2017-07-27 12:03:25 +01:00
Peter Barker 2ad453fc89 AP_GPS: handle inject packets as part of handle_msg 2017-07-27 12:03:25 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas b791fef7cb AP_GPS: Publish the number of satellites in the RTK correction messages, and the age of the RTK correction messages 2017-07-19 20:42:23 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas ae47ac5a09 AP_GPS: implement missing "RTK number of satellites" and "RTK correction age" information in the GPS2_RAW MAVLink message 2017-07-19 20:42:23 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 059c213d19 AP_GPS: Improve comments and documentation (NFC) 2017-07-19 20:42:23 +09:00
Michael du Breuil 5684a5dd36 AP_GPS: Only setup state's instance field during init 2017-07-18 21:21:50 +01:00
Andrew Tridgell 82e7e44cc3 AP_GPS: fixed UAVCAN as 2nd GPS 
This fixes the issue here:

  https://discuss.ardupilot.org/t/ac3-6-dev-dual-gps-issues/19172

thanks to Francisco for spotting the issue

this is tested with UAVCAN as 2nd GPS, ublox as primary
 2017-07-18 18:57:55 +01:00
Peter Barker 76847a2487 AP_GPS: eliminate GCS_MAVLINK::send_statustext_all 2017-07-11 23:53:53 +01:00
Michael du Breuil cb1b9b6674 AP_GPS: Fix SBF race condition on start 
Unsure what the underlying problem is, but the length of the first string in
the initilisation_blob increasing resulted in a race condition, waiting
longer before retrying the message resolves it, but we still need to identify
the underlying problem. This patch just results in the GPS working with current
configurations. Tested against AsteRx-M firmware 3.6.3
 2017-07-11 09:40:02 +09:00
Eugene Shamaev 5341e51f45 AP_GPS: support for multiple instances on different interfaces 2017-07-03 11:44:32 +01:00
Peter Barker cbe9627bf5 AP_GPS: correct example 2017-06-29 15:43:38 +01:00
Peter Barker 7258cfd20b AP_GPS: check dataflash to see if we should log backend gps messages 2017-06-29 15:43:38 +01:00
Francisco Ferreira f35f0d59dd
AP_GPS: fix SBP2 driver build warnings by using memcpy 
Build gave the following warnings:

../../libraries/AP_GPS/AP_GPS_SBP2.cpp: In member function ‘void AP_GPS_SBP2::_sbp_process_message()’:
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:181:78: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
             last_heartbeat = *((struct sbp_heartbeat_t*)parser_state.msg_buff);
                                                                              ^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:181:28: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
             last_heartbeat = *((struct sbp_heartbeat_t*)parser_state.msg_buff);
                            ^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:186:76: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
             last_gps_time = *((struct sbp_gps_time_t*)parser_state.msg_buff);
                                                                            ^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:186:27: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
             last_gps_time = *((struct sbp_gps_time_t*)parser_state.msg_buff);
                           ^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:190:74: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
             last_vel_ned = *((struct sbp_vel_ned_t*)parser_state.msg_buff);
                                                                          ^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:190:26: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
             last_vel_ned = *((struct sbp_vel_ned_t*)parser_state.msg_buff);
                          ^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:194:74: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
             last_pos_llh = *((struct sbp_pos_llh_t*)parser_state.msg_buff);
                                                                          ^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:194:26: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
             last_pos_llh = *((struct sbp_pos_llh_t*)parser_state.msg_buff);
                          ^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:198:68: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
             last_dops = *((struct sbp_dops_t*)parser_state.msg_buff);
                                                                    ^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:198:23: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
             last_dops = *((struct sbp_dops_t*)parser_state.msg_buff);
                       ^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:202:74: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
             last_event = *((struct sbp_ext_event_t*)parser_state.msg_buff);
                                                                          ^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:202:24: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
             last_event = *((struct sbp_ext_event_t*)parser_state.msg_buff);
                        ^
 2017-06-29 15:18:09 +01:00
ebethon 005dbf41a7 AP_GPS: Add SBP EXT_EVENT Message to dataflash log 2017-06-29 15:18:05 +01:00
ebethon 4779a8f1f1 AP_GPS: Rename SBR1/SBR2 to SBRH/SBRM and change format 
Add (sender_id, msg_len) in SBRM message
Add index/pages in SBRH/SBRM messages
Change format to integers to avoid GCS string parsing
Decrease data size in SBRH
 2017-06-29 15:14:54 +01:00
Rob Ratcliff 60c6f8ad60 AP_GPS: fix bug when injecting messages bigger than 255 bytes 
Commit 5261654 changed the used injection method so change this method signature to use uint16 for message length like previous injection method did
 2017-06-27 03:06:26 +01:00
Michael du Breuil 249849dfa4 AP_GPS: Add an enum for _auto_config 2017-06-21 11:44:45 +01:00
Michael du Breuil 5f8633e322 AP_GPS: Allow backends to report their lag confidences 2017-06-21 11:44:45 +01:00
priseborough 5dcfc94371 AP_GPS: Add validity boolean to GPS lag reporting 2017-06-21 11:44:45 +01:00
priseborough bd0229b7bc AP_GPS: Fix bug in calculation of blended GPS delay 2017-06-21 11:44:45 +01:00
Michael du Breuil 6c3db3939e AP_GPS: Update comment on get_rate_ms() 
AP_GPS::get_rate_ms() is only meant to help the GPS backends
 2017-06-12 01:06:38 +01:00
Michael du Breuil ffe701bda3 AP_GPS: Use a static assert to check that the init blob is small enough 2017-05-31 14:39:53 +01:00
Michael du Breuil 1877d09f7c AP_GPS: Don't track detection time to broadcast baud rate 2017-05-30 23:37:59 +01:00
Michael du Breuil 84598544fb AP_GPS: Don't autodetect NMEA instances 2017-05-30 23:37:59 +01:00
Michael du Breuil a1479c4138 AP_GPS: SBF report driver lag 2017-05-26 17:42:15 +01:00
Michael du Breuil 3da3ad05bf AP_GPS: SBF report velocity accuracy 2017-05-26 17:42:15 +01:00
Michael du Breuil c7a89d5aa0 AP_GPS: Set unknown DOP's to UINT16_MAX, rather then 9999 
This fixes the MAVLink reporting for unknown dops, and avoids the situation where a GPS driver could report a worse DOP then we could handle.

Also corrects an apparent error in the HIL_GPS MAVLink message, where we would always select the unknown dop value rather then provided DOP.
 2017-05-25 11:03:33 -07:00
Michael du Breuil 397ae00526 AP_GPS: SBF report VDOP 2017-05-24 20:03:29 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas 2d5033b132 AP_GPS: Use SI units conventions in parameter units 
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
 2017-05-17 18:07:25 +10:00
Peter Barker e9ce3aa0ce AP_GPS: use HAL_SEMAPHORE_BLOCK_FOREVER macro 2017-05-08 10:23:03 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas e31ac00f26 AP_GPS: fix spelling in comments 2017-05-08 10:08:31 +09:00
Andrew Tridgell 3687b6bdf0 AP_GPS: rename macros to avoid conflicts 
these macros were also defined in NuttX in clock.h
 2017-05-06 15:21:14 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas 1691a39b36 AP_GPS: spell in comments 2017-05-03 08:45:08 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 5b67b33310 AP_GPS: Remove un-used AP_GPS::inject_data_all() function 2017-05-01 13:06:18 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas 5261654756 AP_GPS: Only inject RTCM data to the selected GPS device defined in GPS_INJECT_TO parameter 2017-05-01 13:06:18 +01:00
Michael du Breuil 12f83ecf75 AP_GPS: SBF if RAW_DATA is enabled check that the GPS is succeeding at logging 2017-05-01 13:04:52 +01:00
Michael du Breuil d91f89d24b AP_GPS: Remove stale ublox config files 
These configurations no longer (and haven't for quite awhile) matched the
desired command set or baud rates, loading them will still require the GPS
driver to tweak settings, or have AUTO_CONFIG turned off, which is a less
safe configuration.
 2017-04-23 21:15:58 +01:00
Peter Barker 1ba59b446c AP_GPS: log ublox sw and hw versions on dataflash log start 
This burns 41 bytes of RAM for each u-Blox GPS.
 2017-04-23 21:04:17 +01:00
Peter Barker b7baca8d43 AP_GPS: move GPS type announcements into backend 
See #4584
 2017-04-23 21:04:17 +01:00
Peter Barker c46ea73426 AP_GPS: rename QURTGPS to QURT 2017-04-23 21:04:15 +01:00
Peter Barker 2354a0ec5a AP_GPS: ability to log GPS detection state to dataflash 2017-04-23 21:03:23 +01:00
Peter Barker 94a5e94ec9 AP_GPS: canonicalise statustext messages 
Use "GPS %d" prefix, where %d is instance+1, to correspond
with parameters
 2017-04-23 09:09:30 +10:00
Peter Barker 4334a92ac9 AP_GPS: remove unimplemented method declarations 2017-04-23 09:08:30 +10:00
Michael du Breuil 6f297deaf7 AP_GPS: Unify inject_data interface for all classes 2017-04-19 02:05:51 +01:00
Niels Joubert 4bf9fc071c AP_GPS: Adds SBP Version 2: Swift Navigation Piksi Multi support 
This commit adds:

- New driver for SBPv2
--- Support Piksi Multi, Swift Navigation's multi-band multi-constellation GPS
--- Proper parsing of SBP flags
--- Instant response to Piksi status changes (no more timeouts)
--- Support for Piksi Multi as a Single-Point-Positioning GPS or only onboard GPS
--- Incorporates horizontal and vertical accuracy estimates, and vdop.
- Updates driver for SBPv0
--- Continue support for previous Piksi

- Dispatches correct driver based on SBP version.
 2017-04-18 18:25:54 +01:00
Eugene Shamaev 8130d85b42 AP_GPS: removal of legacy UAVCAN support 2017-04-17 17:27:18 +10:00
Pierre Kancir 292fa5f413 AP_GPS: example fix travis warning 
missing function declaration
implicit cast
some style fix
 2017-04-13 19:56:16 +01:00
Eugene Shamaev dfe9b0e6fc AP_GPS: support for UAVCAN connected GNSS receivers 2017-04-10 22:38:12 +01:00
Michael du Breuil 6b523cbd46 AP_GPS: Fix a memory leak in QURT GPS 
Fixes part of #6000
 2017-04-09 16:56:00 +10:00
Jacob Walser 1b00dfb642 AP_GPS: Fix parameter metadata 2017-03-22 16:16:26 -07:00
Pierre Kancir afb488c627 AP_GPS: fix implicit conversion warning from float to double 2017-03-17 13:07:57 +01:00
Randy Mackay b82098ca44 AP_GPS: fix blended ground course 
Thanks to jyl58 for finding this
 2017-03-13 11:21:47 +09:00
Randy Mackay 3e628f30ff AP_GPS: fix blending when accuracy reported as 1mm 
Thanks to Michael DuBreuil for suggesting the fix
 2017-03-13 11:31:51 +11:00
Randy Mackay 2002827de3 AP_GPS: rename pre-arm blending health check 2017-03-13 11:31:51 +11:00
Randy Mackay e9c881c668 AP_GPS: stop blending if too many blending failures 2017-03-13 11:31:51 +11:00
Randy Mackay b7ad8da9b9 AP_GPS: minor bracketing fix 
This silences a warning from eclipse
No functional change
 2017-03-13 11:31:51 +11:00
Randy Mackay 5de64273ec AP_GPS: more efficient initialisation of blending arrays 2017-03-13 11:31:51 +11:00
Randy Mackay 81b20e971b AP_GPS_UBLOX: use get_rate_ms accessor 2017-03-13 11:31:51 +11:00
Randy Mackay ef1399a52f AP_GPS: fixups after peer review 
This includes these changes:
RATE_MS, RATE_MS2 parameter description Range minimum reduced to 50
_blend_health_counter is reset to 0 if blending is disabled
GPS_MAX_RECEIVERS is replaced with GPS_BLENDED_INSTANCE where appropriate
simplify all_consistent functions check of number of receivers
calc_blended_weights fix for initial check of how many receivers we have
remove unnecessary setting of GPS last time when blending fails
remove RebootRequired from AUTO_SWITCH param description
 2017-03-13 11:31:51 +11:00
Randy Mackay 729ce34ce3 AP_GPS: add all_consistent and blend health for use as pre-arm check 2017-03-13 11:31:51 +11:00
Randy Mackay 72dfe1127f AP_GPS: protect parameters from being accessed externally 
backends become friends so they can continue to access parameters held in frontend
get_rate_ms made private because only used by frontend
Also moved static arrays higher in cpp file
 2017-03-13 11:31:51 +11:00
Randy Mackay 3172657f26 AP_GPS: move constructor and complex accessors to cpp file 
These functions are slightly long and make the .h file hard to read.  Also saves a small amount of flash space.
No functional change
 2017-03-13 11:31:51 +11:00
Randy Mackay 0066022a7f AP_GPS: check for valid instance in highest_supported_status 
highest_supported_status will always return FIX_3D for blended or invalid instance
setHIL_Accuracy checks instance is 2 or less
send_mavlink_gps2_raw uses num_instances variable directly to avoid confusion with num_sensors
 2017-03-13 11:31:51 +11:00
Randy Mackay e764f0d5d0 AP_GPS: sanity check update rate 
Also minor spelling and parameter documentation fix
 2017-03-13 11:31:51 +11:00
priseborough 6b26bdd454 AP_GPS: Add option to blend multiple GPS receivers 
Fix pre-existing bug in hard switch logic
Update GPS_AUTO_SWITCH description
protect against zero accuracy estimates returned by GPS drivers
 2017-03-13 11:31:51 +11:00
Randy Mackay cd379b0e86 AP_GPS: move time_epoch calcs into proper file 
The frontend implementation was in the backend file
No functional change
 2017-03-13 11:31:51 +11:00
Randy Mackay a79474dcbc AP_GPS: minor comment fix 
No functional change
 2017-03-13 11:31:51 +11:00
Randy Mackay 201504dbae AP_GPS: remove unused get_antenna_offsets() 
callers always specify an instance
 2017-03-13 11:31:51 +11:00
Randy Mackay 2d0258b6a2 AP_GPS: remove unused highest_supported_status(void) 2017-03-13 11:31:51 +11:00
Randy Mackay ac86c7999b AP_GPS_MAV: set have_accuracy as boolean 2017-03-13 11:31:51 +11:00
Michael Oborne e4ff445ea7 AP_GPS_GSOF-NOVA: fix last_gps_time_ms 2017-03-09 10:41:48 -08:00
Michael du Breuil 398ff823c0 AP_GPS: Always consider ublox as configured in sitl 2017-03-07 12:43:30 +11:00
Michael du Breuil 44bcd74a57 AP_GPS: Remove dead SBF code 
CID 125035
 2017-03-06 15:24:22 +00:00
Michael du Breuil 7b483a1460 AP_GPS: Ublox, always quickly set the rates until we have fetched the version 2017-02-23 07:33:58 +11:00
Andrew Tridgell 3ce7e4b322 AP_GPS: fixed fake uBlox with PVT message support 2017-02-21 06:09:33 +11:00
Lucas De Marchi 9f09442548 AP_GPS: rename UNIX_OFFSET 
To keep consistency with other constants and make clear the unit.
 2017-02-11 01:34:09 -08:00
murata 30151c8253 Global: Define MSEC_PER_SEC, MSEC_PER_WEEK, SEC_PER_WEEK and UNIX_OFFSET. 2017-02-11 01:34:09 -08:00
Lucas De Marchi 747f15b514 AP_GPS: add casts to consider literals as doubles 
Since we pass -fsingle-precision-constant to the compiler, add casts to
make literals real doubles.
 2017-02-06 09:27:22 -08:00
murata b77941c4f2 AP_GPS: Delete unnecessary code. 2017-02-03 15:11:27 +09:00
Andrew Tridgell c0cc2faefd AP_GPS: disable esoteric GPS types on FMUv2 2017-01-29 16:31:06 +11:00
Francisco Ferreira 7ea0baefb1
AP_GPS: re-fix SBP fix status 2017-01-28 17:43:58 +00:00
Francisco Ferreira 512bd08326
AP_GPS: fix SBP supported status 2017-01-28 17:29:48 +00:00
priseborough 6d53ab7b76 AP_GPS: minor comment change 2017-01-27 16:57:42 +09:00
priseborough 4a490d522e AP_GPS: use standard unit descriptor for milliseconds 2017-01-27 16:57:42 +09:00
priseborough be0096e812 AP_GPS: Allow the user to specify the GPS time delay 
If the user sets a non-zero value of the delay it will be used in preference over the default value for that GPS type.
If the GPS type is unknown and the parameter is set to zero, then a default delay of 1 sample period will be used (eg 200ms for 5Hz).
 2017-01-27 16:57:42 +09:00
Andrew Tridgell bdc0630ccf AP_GPS: added all_configured() function 
used for EKF to tell if gps_lag is valid
 2017-01-27 16:57:42 +09:00
Andrew Tridgell 5d18f3a453 AP_GPS: added backend specific get_lag() function 
the ublox7 and 8 seem to produce lower lag, around 120ms. Separately
we should also look at running these at 10Hz and see if that helps.
 2017-01-27 16:57:42 +09:00
murata 3200f24106 AP_GPS: Unify from print or println to printf. 2017-01-27 18:20:22 +11:00
Francisco Ferreira 1fc0dbe0bd
AP_GPS: fix GSOF highest supported status 2017-01-26 00:04:32 +00:00
Michael Oborne 8e9f382240 AP_GPS_GSOF: update for new GPS_FIX's 2017-01-26 00:04:19 +00:00
Michael du Breuil 0cf41c9288 AP_GPS: Force ublox baud rate if we are allowed to config the GPS 2017-01-26 07:48:22 +09:00
Michael du Breuil 855d91145a AP_GPS: ublox - fix incorrect step ordering 2017-01-25 03:44:57 +00:00
Michael du Breuil 1c1e6e9398 AP_GPS: Support more fix types 2017-01-25 03:44:42 +00:00
Michael Oborne d05b0d5885 AP_GPS_UBLOX: add pvt message support 2017-01-25 03:34:26 +00:00
Francisco Ferreira d472fbde0c
AP_GPS: fix PX4 GPS driver leap seconds 2017-01-21 21:59:36 +00:00
Michael du Breuil c696137a42 AP_GPS: Update the number of leapseconds 2017-01-18 18:07:26 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas b7f32e216d AP_GPS: update parameter descriptions 2017-01-09 13:32:28 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 9aaeb6fe1a AP_GPS: Add missing GPS Types 2017-01-06 21:24:42 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas 8419045aea Spell in comments 2017-01-06 10:57:39 -08:00
murata fd153f2861 AP_GPS: Change search method of GPS type to switch statement. 
AP_GPS: Correct the tab code to white space.
 2016-12-21 10:31:43 +09:00
priseborough 453ced4a38 AP_GPS: remove unused EKF1 include 2016-12-19 08:07:11 +11:00
Randy Mackay b296bc1d00 GPS: MAV driver fix for sanity checks of cog, sat count 2016-12-08 15:52:26 +09:00
Randy Mackay 8118222946 GPS: MAV driver fix for GPS_INPUT altitude 2016-12-08 15:52:26 +09:00
Randy Mackay 9e62f12dd7 GPS: MAV driver gets support for HIL_GPS message 2016-12-08 15:52:26 +09:00
Michael du Breuil d97861d685 AP_GPS: Ublox: Skip SBAS request if we don't want to alter it 2016-11-21 14:15:19 +09:00
Michael Oborne c62050dc1b AP_GPS_SBF: fix accuracy reported by driver 2016-11-12 16:42:35 +09:00
Holger Steinhaus 5b66062f85 AP_GPS_PX4: unsubscribe on driver destruction. 2016-11-07 08:00:57 -03:00
murata c808ee2f49 Global: To nullptr from NULL. 
RC_Channel: To nullptr from NULL.

AC_Fence: To nullptr from NULL.

AC_Avoidance: To nullptr from NULL.

AC_PrecLand: To nullptr from NULL.

DataFlash: To nullptr from NULL.

SITL: To nullptr from NULL.

GCS_MAVLink: To nullptr from NULL.

DataFlash: To nullptr from NULL.

AP_Compass: To nullptr from NULL.

Global: To nullptr from NULL.

Global: To nullptr from NULL.
 2016-11-02 16:04:47 -02:00
Michael Oborne c5f8d8a695 AP_GPS_SBF: change reported altitude from geoid to MSL 2016-11-01 13:06:59 +09:00
Randy Mackay aeb1de08f5 AP_GPS: fix MAV compile error 2016-10-29 16:45:00 +09:00
Randy Mackay 9290ee65cc AP_GPS: MAV driver uses existing baud rates 
GPS_INPUT messages can arrive through any mavlink serial port so we shouldn't be modifying any port's baud rates.
 2016-10-29 14:33:44 +09:00
Peter Barker 7b75a4ec09 AP_GPS: add missing parameter metadata 2016-10-27 09:15:03 -07:00
Andrew Tridgell af332cb336 AP_GPS: use const reference 2016-10-27 15:05:58 +11:00
priseborough 1dec6dd9b0 AP_GPS: Update parameter documentation 
Add brief description of body frame conventions.
 2016-10-27 14:54:45 +11:00
priseborough b51c9dea6c AP_GPS: Add parameters defining antenna offset in body frame 2016-10-27 14:54:41 +11:00
murata 762a66c9e5 AP_GPS_SBF: Adjust the initial value of HDOP 2016-10-26 09:54:59 +11:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Peter Barker 6e72c899d1 AP_GPS: AP_GPS_GSOF: remove unused variable 2016-10-24 08:57:56 -02:00
Peter Barker e17a71c6cc AP_GPS: AP_GPS_NOVA: remove unused variables 2016-10-24 08:57:55 -02:00
Randy Mackay e6e6e36da7 AP_GPS_MAV: fix hdop conversion 2016-10-18 20:24:55 +09:00
Lucas De Marchi ae53920e5b build: don't build examples with old build system 
We currently check examples are buildable with waf which doesn't need
the libraries to be specified in a make.inc file.  Having the makefiles
there is misleading since people try to build and realize the build is
broken.
 2016-10-11 13:03:08 +11:00
Andrew Tridgell 9caf44b494 AP_GPS: update drivers for changed inject_data() API 
need 16 bit length
 2016-10-11 11:00:35 +11:00
Andrew Tridgell 500df1edf2 AP_GPS: support GPS_RTCM_DATA fragmented MAVLink message 
support re-assembly of RTCM data packets
 2016-10-11 11:00:35 +11:00
Michael du Breuil cf5e79f80e AP_GPS: ublox support user controlled rate updates 
Also corrects accepting bad nav rates as configured, and fixes a incorrect
index as to which GPS is being updated
 2016-10-11 10:44:51 +11:00
Michael du Breuil 86c2b1d84a AP_GPS: u-blox Remove 5Hz warning 
The warnings test case is better covered by the rest of the driver
while it is performing the normal settings audit.
 2016-10-11 10:44:51 +11:00
Michael du Breuil 3e3f539a6a AP_GPS: Raise target baud of u-blox devices 
A knockon effect is that we need less config strings as raw logging
on u-blox will use the same baud rates
 2016-10-11 10:44:50 +11:00
Andy Little 0d113b265c Examples: fix examples for px4 
The change to use AP_BoardConfig messed up the examples. Here are some
updated but there are plenty more to do.
 2016-10-04 12:50:47 -03:00
Michael du Breuil 9c4b3ec1e1 AP_GPS: Fix incorrect incrementing of last_baud rate 
This is a revert of 7c3b8dceb which tried to start at index 0 of the
array of baudrates, however because of the way last_baud is used
this lead to a GPS always being reported as being 1 index off which
lead to users getting reports of baud rates that their GPS wasn't
configured for

Also renames last_baud to be current_baud as that is how it's
actuallly used and should reduce future confusion

And fixed some tabs/vs space issues around where the last_baud rate
was incremented.
 2016-09-25 08:50:47 -07:00
Michael Oborne 11c376588d AP_GPS_NOVA: support tersus/novatel/comnav gps 2016-09-20 10:53:49 +10:00
Matthew Brener 06388b0417 Global: Fix typos 2016-09-17 00:36:36 -03:00
Randy Mackay 38b3d3ff3a AP_GPS_MAV: initialise location while handling_msg 
This reduces a covarity warning but it likely not really an issue because we always initialise newly allocated memory to zero anyway
 2016-09-01 12:01:14 +09:00
Lee Hicks 51e8d8a294 AP_GPS: Don't send config blob to GPS unless AUTO_CONFIG=1 
All GPS types will recieve startup up blob config. For
some recievers this will cause them to hang. This commit
only allows sending of blobs if AUTO_CONFIG=1. Fixes #2622
 2016-08-16 10:56:37 +10:00
Lee Hicks 7c3b8dceb9 AP_GPS: Fixed GPS serial speeds starting at 1 instead of 0 
The counting of this will increment the counter before
selecting the baud speed, skipping the first baud rate.
 2016-08-16 10:56:36 +10:00
Lee Hicks 3dd4f30460 AP_GPS: Adding 19200 as serial speed for GPS 
APM supports baud speeds of 19200, but GPS baud rates
don't support it. This commit adds it to follow APM supported
baud rates.
 2016-08-16 10:56:36 +10:00
Holger Steinhaus cc4fafc3e4 AP_GPS_PX4: fixed GPS epoch calculations 2016-08-02 11:20:48 +10:00
Randy Mackay 6e224158f1 AP_GPS_MAV: use GPS_INPUT_IGNORE_FLAGS 2016-07-12 15:44:46 +09:00
Randy Mackay e34aa0bc72 AP_GPS_MAV: minor formatting fixes 
No functional change
 2016-07-12 15:44:19 +09:00
Allan Matthew 4249f7dbe6 AP_GPS: Add GPS_MAV type and accept GPS_INPUT message 2016-07-12 15:34:27 +09:00