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92 Commits

Author SHA1 Message Date
Michael du Breuil 75c0644b9a AP_GPS: Use state.instance instead of trying to track instance numbers inside of the ublox driver 2015-09-23 20:42:42 -07:00
Andy Piper 5adb6d2b89 AP_GPS: Support UBX messages for dual UBLOX GPS setups. 
Add extra DOP information to UBX precision messages.
 2015-09-23 20:41:50 -07:00
Andrew Tridgell 6fbe88ba3a AP_GPS: improved fake ublox to give enough for EKF health 2015-09-14 11:36:15 +10:00
Andrew Tridgell d07d2f3a46 AP_GPS: removed UBX3 message 
replaced by GPA and GPA2 messages
 2015-09-09 15:01:45 +10:00
Michael du Breuil 0e3a188f6f AP_GPS: Read the vdop information from a ublox GPS 2015-09-09 11:38:12 +10:00
Andrew Tridgell 2c7a113790 AP_GPS: ensure all GPS drivers give headings as 0..360 degrees 
this prevents inconsistency between interfaces, and fixes a MAVLink
reporting bug with UAVCAN GPS
 2015-08-31 08:24:35 +10:00
Tom Pittenger 816d1f0e1b AP_GPS: resolve compiler warning re init order 2015-08-25 13:51:33 +09:00
Michael du Breuil 4f9fbc5aa7 AP_GPS: Fix a bound error when calculating GNSS minimum channels. 
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.
 2015-08-13 15:15:20 +10:00
Gustavo Jose de Sousa 67db430583 AP_GPS: standardize inclusion of libaries headers 
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.
 2015-08-11 16:28:43 +10:00
Michael du Breuil c29b19f768 AP_GPS: Fix a typo on spelling received 2015-08-08 13:22:04 +09:00
Michael du Breuil bc26eaab63 AP_GPS: Ublox: fall back to the DOP if hDOP hasn't come in yet 
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.
 2015-08-07 21:21:48 +10:00
Andrew Tridgell 087e729748 AP_GPS: re-enable SBAS config on APM2 for uBlox 2015-07-30 11:04:31 +10:00
Andrew Tridgell b6beeb6f2f AP_GPS: save some memory and code space on APM2 for ublox 
don't include structures we don't need for low end CPUs
 2015-07-30 08:46:20 +10:00
Michael du Breuil 5c9d248407 AP_GPS: Fix copy/paste error in ublox (uncovered by coverity) 2015-07-28 18:01:02 +09:00
Michael du Breuil 09fef505e0 AP_GPS: With a ublox driver, accept a packet if it will fit in the buffer 2015-07-22 21:31:10 +10:00
Michael du Breuil 22b16b4532 AP_GPS: Enable selecting what GNSS system to use if the reciever supports it 
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.
 2015-07-22 21:31:10 +10:00
Michael du Breuil 47592a1953 AP_GPS: Raise the baud rate on a ublox GPS if using RAW logging 
the implementation leaves an easy path forward for providing a different startup blob for all the GPS's if raw logging is enabled
 2015-07-22 21:31:09 +10:00
Randy Mackay 7d2fe3cc2b AP_GPS_UBlox: remove unused member 2015-07-14 15:02:15 +09:00
Randy Mackay 2c33250bee AP_GPS_UBlox: send_next_rate_update always runs all steps 
Moving the if, endif checks within the case statement ensures the state
machine goes through all 10 states
 2015-07-14 15:02:13 +09:00
Randy Mackay 4b015d2091 AP_GPS: remove compiler warnings 2015-07-14 15:02:10 +09:00
Randy Mackay df3a04e284 AP_GPS: reduce fake Ublox hdop to 130 2015-07-14 15:02:08 +09:00
Andy Piper 5ccc58ffb4 AP_GPS: Read actual hDOP value from UBLOX messages 
Before we were reading the position DOP and calling it hDOP. Since the
other drivers actualy read hDOP it seem best to do the same.
Fixes issue 462.
 2015-07-14 15:02:03 +09:00
Michael du Breuil a382ce2b0c AP_GPS: Add support for logging ublox RXM-RAWX messages 
Can only record 32 satellites raw info before memory corruption occurs. (And raised the limit on normal RXM-RAW messages to 22)
 2015-06-30 09:05:49 +10:00
mirkix 38a8a772f8 AP_GPS: Add fix status 3D+DGPS 2015-06-30 09:00:31 +10:00
Andrew Tridgell 9a7b283322 AP_GPS: fixed enable of RXM_RAW on uBlox on Pixhawk 
if version detection was disabled this would never trigger
 2015-06-02 16:52:08 +10:00
Peter Barker 4d67ccb338 AP_GPS: use 64-bit timestamps for dataflash logs 2015-05-27 11:54:16 +10:00
Micheal Knight ee85d37ee2 AP_GPS: added logging of RXM_RAW messages for UBlox 
this will allow for post-flight RTK processing of DF logs
 2015-05-05 13:25:34 +10:00
Staroselskii Georgii 4a3e61f4e4 AP_GPS: turn UBlox autodetection only for NavIO 2015-04-14 10:45:49 +10:00
Staroselskii Georgii 47a336d192 AP_GPS: added Ublox' hardware generation autodetection 2015-04-14 10:45:49 +10:00
Jonathan Challinger 2293070a5b AP_GPS: Add uBlox accuracy metrics interface and logging 2014-11-06 07:38:41 +11:00
Jonathan Challinger 6848897999 AP_GPS: Add agcCnt to UBX1 message 2014-10-29 08:18:04 +11:00
Andrew Tridgell 15470bd81b AP_GPS: added GPS_MIN_ELEV parameter 
allows setting of satellite elevation mask in degrees
 2014-09-04 14:46:10 +10:00
Andrew Tridgell 840a4dee1e AP_GPS: added GPS_SBAS_MODE parameter 
allows SBAS to be enabled/disabled
 2014-09-04 14:46:10 +10:00
Andrew Tridgell 60e501d5ab AP_GPS: moved UBX log headers to DataFlash 
headers were not always being written
 2014-08-19 10:08:15 +10:00
Jonathan Challinger 0bb7b8e938 AP_GPS: Fix bug that causes permanent lag if we miss a message 2014-04-29 15:35:46 +10:00
Andrew Tridgell b0fd94f18e AP_GPS: initialise a variable in uBlox driver 2014-04-23 18:15:53 +10:00
Andrew Tridgell 5a7afbf2cd AP_GPS: prevent writing GPS log headings multiple times 2014-04-20 21:44:14 +10:00
Andrew Tridgell 21c205a57e AP_GPS: cope with different MON-HW message size in u-Blox Neo7 2014-04-03 10:55:05 +11:00
Andrew Tridgell 8779ffe088 AP_GPS: flush pending config strings when uBlox starts 2014-04-01 06:38:25 +11:00
Andrew Tridgell 368daf89f1 AP_GPS: new GPS API 
This is a complete rewrite of the GPS driver structure, with a static
main driver and separate backend drivers. This will allow proper
support for multiple GPSes, and will allow parameters to be set on the
GPS object
 2014-04-01 06:38:23 +11:00
Andrew Tridgell 2dd92832dc AP_GPS: support multiple AP_GPS_Auto drivers 
move all static variables into a dynamically allocated structure in
the AUTO driver which gets freed when we have found a GPS type
 2014-04-01 06:38:23 +11:00
Andrew Tridgell 5630bb1ef6 AP_GPS: added detailed hardware status logging for uBlox 
this gives us noise, jamming and RF information from the uBlox
protocol. This will hopefully allow a more detailed investigation of
antenna choices and RF interference
 2014-03-24 12:02:37 +11:00
Andrew Tridgell ff73773de4 AP_GPS: try harder to get 5Hz updates from a uBlox 
check for getting at least one 5Hz update every 15s
 2013-11-05 15:18:25 +11:00
Andrew Tridgell 744819cec8 AP_GPS: added fake time to fake GPS lock 2013-10-24 14:22:48 +11:00
Andrew Tridgell 6f5ac1d553 AP_GPS: added support for GPS time in week/millisec 
also adds time_epoch_usec() for MAVLink SYSTEM_TIME
 2013-10-24 14:22:47 +11:00
Andrew Tridgell 25d3e5b7e9 AP_GPS: changed fake GPS fix to have a latitude/longitude 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2013-10-11 16:06:35 +11:00
Andrew Tridgell 7a9ed0a5a1 AP_GPS: fixed warning 2013-10-03 12:21:08 +10:00
Andrew Tridgell 5489097476 AP_GPS: update the UBLOX rates async from the start 
this saves a bit of startup time
 2013-10-03 12:21:07 +10:00
Andrew Tridgell cee8a017ab AP_GPS: added UBLOX_FAKE_3DLOCK debugging option 
useful when unable to get 3D lock
 2013-10-03 12:21:07 +10:00
Andrew Tridgell 34f7f88190 AP_GPS: check for corret GPS solution rates in flight and fix 
if the GPS is giving us data at less than 300ms intervals then re-send
the configuration messages to try to kick it into the right rates

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2013-10-03 12:21:07 +10:00