Andrew Tridgell
4cabe0f223
AP_GPS: prevent use of blended GPS with moving baseline
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when moving baseline is enabled the rover is slaved to the base for
position and velocity, adding no additional useful data. Only the yaw
comes from the rover
2023-09-30 09:05:08 +10:00
Andrew Tridgell
4e61fb3f26
AP_GPS: allow GPS moving baseline rover at 3Hz
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users with busy CAN bus often get significiantly lower GPS rates on a
moving baseline rover, preventing arming. This PR relaxes the required
frame rate as the EKF is quite happy with 3Hz yaw and the yaw is the
only data consumed from a moving baseline rover
2023-09-30 09:05:08 +10:00
Peter Barker
f358ddd771
AP_GPS: add an AP_GPS_FixType header
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useful when you need nice symbols for the numbers, but are not compiling the GPS headers in
2023-09-27 14:14:57 -07:00
Peter Barker
0824eca776
AP_GPS: use AP_GPS_ENABLED to exclude more code when GPS not compiled in
2023-09-27 16:38:15 +10:00
Andrew Tridgell
89bd6ab218
AP_GPS: implement the GPS_DRV_OPTION for ellisoid height in mode drivers
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this allows a lot more drivers to use the GPS_DRV_OPTION but to use
ellisoid height. Particularly useful for DroneCAN GPS modules
using ellisoid height instead of AMSL is useful in some specialised
application
2023-09-21 19:36:26 +10:00
Peter Barker
a391b14a6d
AP_GPS: replace utility functions with compiler builtins
2023-09-12 09:48:53 +10:00
Peter Barker
668e2fa068
AP_GPS: use correct define for DroneCAN GPS drivers
2023-09-03 08:43:03 +10:00
Andrew Tridgell
74139423cb
AP_GPS: fixes for macos CAN SITL build
2023-08-29 15:09:48 +10:00
Andrew Tridgell
babd2d2033
AP_GPS: removed native_millis/micros
2023-08-24 13:06:40 +10:00
Ryan Friedman
01cd42d1e7
AP_GPS: Allow multiple external AHRS GPS instances
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Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-08-24 12:01:32 +10:00
Peter Barker
941e9785d4
AP_GPS_NOVA: avoid infinite reading of bytes
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if we have a very fast stream of garbage coming in available() may never return 0
2023-08-15 08:36:13 +10:00
Ryan Friedman
5b21834827
AP_GPS: Switch to sparse endian to make it portable
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* Instead of custom algorithm to reduce flash and code maintenance
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-08-11 11:21:41 +10:00
Peter Barker
e6ac368972
AP_GPS: make AP_GPS_MAV dependent on HAL_GCS_ENABLED
2023-08-08 11:33:54 +10:00
Peter Barker
6ee9f01ffb
AP_GPS: avoid use of mavlink constructs when GCS not compiled in
2023-08-08 11:33:54 +10:00
Peter Barker
bf005731a9
AP_GPS: tidy is_healthy calculations
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this removes some duplicate code and simplifies the flow of control
2023-08-08 11:31:18 +10:00
Peter Barker
00bc4a9e8b
AP_GPS: add and use AP_GPS_DRONECAN_ENABLED
2023-08-02 17:46:30 +10:00
Peter Barker
407cfc22ca
AP_GPS: remove code if blended instance is not available
2023-08-01 10:03:19 +10:00
Peter Barker
c45c02ce82
AP_GPS: use AP_AHRS_ENABLED in place of HAL_BUILD_AP_PERIPH
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the guard here is just against use of the singleton
2023-07-04 10:27:32 +10:00
Peter Barker
5664c0a142
AP_GPS: check delay_ok in one place
2023-07-04 08:15:31 +10:00
Peter Barker
c89ec67333
AP_GPS: move AP_RTC::mktime to be ap_mktime
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in preparation for AP_RTC_ENABLED
2023-06-27 11:25:11 +10:00
Andrew Tridgell
848e1bfdf8
AP_GPS: ensure uart buffer sizes are OK for RTK
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rover needs higher tx size, base needs higher rx size
2023-06-27 10:32:43 +10:00
Andrew Tridgell
64869b6e16
AP_GPS: fixed RTK injection with moving baseline
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when 2nd DroneCAN GPS on the bus is the base in moving baseline we
need to be able to inject to it
2023-06-27 10:32:43 +10:00
Peter Barker
6f292c02da
AP_GPS: add and use AP_GPS_ENABLED
2023-06-21 22:28:48 +10:00
Andrew Tridgell
0d4018107b
AP_GPS: fixed ublox M10S auto-config
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this copes with the M10S rejecting multiple-key VALGET calls. We fall
back to fetching one at a time
2023-06-13 11:00:47 +10:00
Andrew Tridgell
531b12e272
AP_GPS: fixed RTCM injection for DroneCAN GPS
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need to check broadcast() return
2023-06-08 10:15:50 +10:00
Alexander Keller
6ba526fa25
AP_GPS:Comform to ardupilot undulation definition
2023-06-08 09:48:30 +10:00
Peter Barker
3f70f2104a
AP_GPS: use minimize_features.inc for more features
2023-06-06 10:14:02 +10:00
bugobliterator
5026b3d08c
AP_GPS: send RTCM Stream message to over dronecan directly
2023-05-31 17:31:09 +10:00
Ryan Friedman
639ba63560
AP_GPS: Remove gsof zero initialization
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Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-05-30 09:45:29 +10:00
Peter Barker
e415b5fda0
AP_GPS: add clarifying comment on _configure_config_set method
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it's a bit confusingly named, because it doesn't actually "set" anything - it gets messages from the GPS which are then parsed and responded to based on the received values.
2023-05-29 09:56:20 +10:00
Ryan Friedman
f092c22915
AP_GPS: Enforce max of 10 GSOF outputs per the manual
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Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-05-20 14:23:17 +10:00
Ryan Friedman
77e169b226
AP_GPS: Update GSOF docs with newer data
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Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-05-20 14:22:15 +10:00
Ryan Friedman
a05af3f3c3
AP_GPS: More const for gsofmsgreq
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Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-05-19 18:43:31 +10:00
Peter Barker
a16c9cf64e
AP_GPS: log fragments used/fragments discarded for RTCM injection data
2023-05-17 18:37:43 +10:00
Ryan Friedman
5c815e2c32
AP_GPS: Reduce extra GSOF namespacing since it's all in class scope
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* Also remove in s on enums to follow Peter's conventions
* Fixed incorrect style on class and enum names
2023-05-17 18:12:44 +10:00
Ryan Friedman
2f5f77712f
AP_GPS: Use enum classes in GSOF
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Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-05-17 18:12:44 +10:00
Ryan Friedman
29a6ae4ea1
AP_GPS: Add missing const to the rest of the headers
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* Related to #23743 , but I missed this since I didn't realize the buffer was not modified in-place
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-05-15 12:25:34 +10:00
Ryan Friedman
b8f59b0df5
AP_GPS: Remove unused member variable in gsof driver
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Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-05-12 19:19:43 +10:00
Ryan Friedman
4b2687352c
AP_GPS: Add const and WARN_IF_UNUSED to AP_GPS_GSOF
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Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-05-11 10:41:17 -07:00
Ryan Friedman
d6569d6f79
AP_GPS: Use SI unit abbreviation
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Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-04-26 14:08:01 +10:00
Peter Barker
271571e29c
AP_GPS_NMEA: fix stringop truncation failure on g++ 9
2023-04-18 11:44:57 +10:00
Ryan Friedman
1e9403dca6
AP_GPS: Add covariance output to AP_GPS matching ROS NavSatFix
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* Zero every iteration in case GPS quality degrades or fix is lost
* Use float precision for now
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-04-14 12:06:42 +10:00
Andrew Tridgell
f6fa35a1f7
AP_GPS: fixed name length
2023-04-11 10:31:31 +10:00
Andrew Tridgell
834831bfeb
AP_GPS: text messages and more defines
2023-04-11 10:31:31 +10:00
Andrew Tridgell
645fd82507
AP_GPS: rename more variables, types and defines
2023-04-11 10:31:31 +10:00
Andrew Tridgell
5952eb1249
AP_GPS: update header references
2023-04-11 10:31:31 +10:00
Andrew Tridgell
258158b0bc
AP_GPS: rename UAVCAN drivers to DroneCAN
2023-04-11 10:31:31 +10:00
Andrew Tridgell
8829f54d89
AP_GPS: rename AP_UAVCAN to AP_DroneCAN
2023-04-08 07:11:23 +10:00
Ryan Friedman
c6060dd047
AP_GPS: Fix spelling in receiver
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Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-04-06 09:13:09 +10:00
bugobliterator
09de24f3d2
AP_GPS: replace libuavcan with libcanard based driver
2023-03-29 17:16:39 +11:00