bf6778277e
AP_GPS: implement GPS*_RTK mavlink messages
2017-10-30 18:28:20 +00:00
430b863f42
AP_GPS: Replace hardcoded duplicated end_mavlink_gps*_rtk() function with a flexible one
2017-10-30 18:28:20 +00:00
b0e18de576
AP_GPS: Remove detect helpers for MTK/SIRF when minimizing the build
...
Removes 16 bytes
2017-10-22 03:03:29 +01:00
0300f86913
AP_GPS: u-blox: Log unconfigured messages
2017-10-06 12:53:32 +01:00
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
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
bfbec02736
AP_GPS: SBF track the GPS error bits
2017-09-27 19:29:32 +01:00
0d522663b2
AP_GPS: SBF: fix the PVTMode to support PPK (and baseline) units
2017-09-27 19:29:32 +01:00
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
20988b9f05
AP_GPS: SBF respect GPS_AUTO_CONFIG
2017-09-27 19:29:32 +01:00
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
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
175b7c5389
AP_GPS: spellcheck in coment (NFC)
2017-09-26 23:15:10 -07:00
b05610870c
global: use static method to construct AP_Rally
2017-09-26 03:01:21 +01:00
69b6d95cb2
global: use static method to construct AP_Board_Config{,_CAN}
2017-09-26 03:01:21 +01:00
72fd2d6f05
global: use static method to construct AP_SerialManager
2017-09-26 03:01:21 +01:00
8094482f21
global: use static method to construct AP_GPS
2017-09-26 03:01:21 +01:00
2cb2727a31
AP_GPS: add static create method
2017-09-26 03:01:21 +01:00
02cfe9128d
AP_GPS: parse RTK status in NMEA GGA message
2017-09-15 22:33:47 +01:00
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
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
e03826890a
AP_GPS: Fix typo in comment
2017-09-13 14:22:57 -07:00
04eb7f411e
AP_GPS: Track the delta time between the last GPS positions
2017-09-13 13:36:40 +01:00
be371e09f9
AP_GPS: SBF: Reject short packets early, allow 256 byte long messages to be decoded
2017-09-06 10:41:36 +10:00
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
b62e8909c4
AP_GPS: add missing fallthrough
2017-09-01 13:45:22 -07:00
3414883f05
AP_GPS: remove tabs and fix coding style
2017-08-22 23:59:13 -07:00
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
7f59279670
AP_GPS: make time_epoch_usec const
2017-07-28 14:27:53 +01:00
e7ff5107fb
AP_GPS: tidy mavlink message handling using switch statement
2017-07-27 12:03:25 +01:00
2ad453fc89
AP_GPS: handle inject packets as part of handle_msg
2017-07-27 12:03:25 +01:00
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
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
059c213d19
AP_GPS: Improve comments and documentation (NFC)
2017-07-19 20:42:23 +09:00
5684a5dd36
AP_GPS: Only setup state's instance field during init
2017-07-18 21:21:50 +01:00
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
76847a2487
AP_GPS: eliminate GCS_MAVLINK::send_statustext_all
2017-07-11 23:53:53 +01:00
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
5341e51f45
AP_GPS: support for multiple instances on different interfaces
2017-07-03 11:44:32 +01:00
cbe9627bf5
AP_GPS: correct example
2017-06-29 15:43:38 +01:00
7258cfd20b
AP_GPS: check dataflash to see if we should log backend gps messages
2017-06-29 15:43:38 +01:00
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
005dbf41a7
AP_GPS: Add SBP EXT_EVENT Message to dataflash log
2017-06-29 15:18:05 +01:00
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
60c6f8ad60
AP_GPS: fix bug when injecting messages bigger than 255 bytes
...
Commit 5261654
2017-06-27 03:06:26 +01:00
249849dfa4
AP_GPS: Add an enum for _auto_config
2017-06-21 11:44:45 +01:00
5f8633e322
AP_GPS: Allow backends to report their lag confidences
2017-06-21 11:44:45 +01:00
5dcfc94371
AP_GPS: Add validity boolean to GPS lag reporting
2017-06-21 11:44:45 +01:00
bd0229b7bc
AP_GPS: Fix bug in calculation of blended GPS delay
2017-06-21 11:44:45 +01:00
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
ffe701bda3
AP_GPS: Use a static assert to check that the init blob is small enough
2017-05-31 14:39:53 +01:00
1877d09f7c
AP_GPS: Don't track detection time to broadcast baud rate
2017-05-30 23:37:59 +01:00
84598544fb
AP_GPS: Don't autodetect NMEA instances
2017-05-30 23:37:59 +01:00
a1479c4138
AP_GPS: SBF report driver lag
2017-05-26 17:42:15 +01:00
3da3ad05bf
AP_GPS: SBF report velocity accuracy
2017-05-26 17:42:15 +01:00
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
397ae00526
AP_GPS: SBF report VDOP
2017-05-24 20:03:29 +01:00
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
e9ce3aa0ce
AP_GPS: use HAL_SEMAPHORE_BLOCK_FOREVER macro
2017-05-08 10:23:03 +09:00
e31ac00f26
AP_GPS: fix spelling in comments
2017-05-08 10:08:31 +09:00
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
1691a39b36
AP_GPS: spell in comments
2017-05-03 08:45:08 +09:00
5b67b33310
AP_GPS: Remove un-used AP_GPS::inject_data_all() function
2017-05-01 13:06:18 +01:00
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
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
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
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
b7baca8d43
AP_GPS: move GPS type announcements into backend
...
See #4584
2017-04-23 21:04:17 +01:00
c46ea73426
AP_GPS: rename QURTGPS to QURT
2017-04-23 21:04:15 +01:00
2354a0ec5a
AP_GPS: ability to log GPS detection state to dataflash
2017-04-23 21:03:23 +01:00
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
4334a92ac9
AP_GPS: remove unimplemented method declarations
2017-04-23 09:08:30 +10:00
6f297deaf7
AP_GPS: Unify inject_data interface for all classes
2017-04-19 02:05:51 +01:00
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
8130d85b42
AP_GPS: removal of legacy UAVCAN support
2017-04-17 17:27:18 +10:00
292fa5f413
AP_GPS: example fix travis warning
...
missing function declaration
implicit cast
some style fix
2017-04-13 19:56:16 +01:00
dfe9b0e6fc
AP_GPS: support for UAVCAN connected GNSS receivers
2017-04-10 22:38:12 +01:00
6b523cbd46
AP_GPS: Fix a memory leak in QURT GPS
...
Fixes part of #6000
2017-04-09 16:56:00 +10:00
1b00dfb642
AP_GPS: Fix parameter metadata
2017-03-22 16:16:26 -07:00
afb488c627
AP_GPS: fix implicit conversion warning from float to double
2017-03-17 13:07:57 +01:00
b82098ca44
AP_GPS: fix blended ground course
...
Thanks to jyl58 for finding this
2017-03-13 11:21:47 +09:00
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
2002827de3
AP_GPS: rename pre-arm blending health check
2017-03-13 11:31:51 +11:00
e9c881c668
AP_GPS: stop blending if too many blending failures
2017-03-13 11:31:51 +11:00
b7ad8da9b9
AP_GPS: minor bracketing fix
...
This silences a warning from eclipse
No functional change
2017-03-13 11:31:51 +11:00
5de64273ec
AP_GPS: more efficient initialisation of blending arrays
2017-03-13 11:31:51 +11:00
81b20e971b
AP_GPS_UBLOX: use get_rate_ms accessor
2017-03-13 11:31:51 +11:00
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
729ce34ce3
AP_GPS: add all_consistent and blend health for use as pre-arm check
2017-03-13 11:31:51 +11:00
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
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
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
e764f0d5d0
AP_GPS: sanity check update rate
...
Also minor spelling and parameter documentation fix
2017-03-13 11:31:51 +11:00
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
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
a79474dcbc
AP_GPS: minor comment fix
...
No functional change
2017-03-13 11:31:51 +11:00
201504dbae
AP_GPS: remove unused get_antenna_offsets()
...
callers always specify an instance
2017-03-13 11:31:51 +11:00
2d0258b6a2
AP_GPS: remove unused highest_supported_status(void)
2017-03-13 11:31:51 +11:00
ac86c7999b
AP_GPS_MAV: set have_accuracy as boolean
2017-03-13 11:31:51 +11:00
e4ff445ea7
AP_GPS_GSOF-NOVA: fix last_gps_time_ms
2017-03-09 10:41:48 -08:00
398ff823c0
AP_GPS: Always consider ublox as configured in sitl
2017-03-07 12:43:30 +11:00
44bcd74a57
AP_GPS: Remove dead SBF code
...
CID 125035
2017-03-06 15:24:22 +00:00
7b483a1460
AP_GPS: Ublox, always quickly set the rates until we have fetched the version
2017-02-23 07:33:58 +11:00
3ce7e4b322
AP_GPS: fixed fake uBlox with PVT message support
2017-02-21 06:09:33 +11:00
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
30151c8253
Global: Define MSEC_PER_SEC, MSEC_PER_WEEK, SEC_PER_WEEK and UNIX_OFFSET.
2017-02-11 01:34:09 -08:00
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
b77941c4f2
AP_GPS: Delete unnecessary code.
2017-02-03 15:11:27 +09:00
c0cc2faefd
AP_GPS: disable esoteric GPS types on FMUv2
2017-01-29 16:31:06 +11:00
7ea0baefb1
AP_GPS: re-fix SBP fix status
2017-01-28 17:43:58 +00:00
512bd08326
AP_GPS: fix SBP supported status
2017-01-28 17:29:48 +00:00
6d53ab7b76
AP_GPS: minor comment change
2017-01-27 16:57:42 +09:00
4a490d522e
AP_GPS: use standard unit descriptor for milliseconds
2017-01-27 16:57:42 +09:00
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
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
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
3200f24106
AP_GPS: Unify from print or println to printf.
2017-01-27 18:20:22 +11:00
1fc0dbe0bd
AP_GPS: fix GSOF highest supported status
2017-01-26 00:04:32 +00:00
8e9f382240
AP_GPS_GSOF: update for new GPS_FIX's
2017-01-26 00:04:19 +00:00
0cf41c9288
AP_GPS: Force ublox baud rate if we are allowed to config the GPS
2017-01-26 07:48:22 +09:00
855d91145a
AP_GPS: ublox - fix incorrect step ordering
2017-01-25 03:44:57 +00:00
1c1e6e9398
AP_GPS: Support more fix types
2017-01-25 03:44:42 +00:00
d05b0d5885
AP_GPS_UBLOX: add pvt message support
2017-01-25 03:34:26 +00:00
d472fbde0c
AP_GPS: fix PX4 GPS driver leap seconds
2017-01-21 21:59:36 +00:00
c696137a42
AP_GPS: Update the number of leapseconds
2017-01-18 18:07:26 +00:00
b7f32e216d
AP_GPS: update parameter descriptions
2017-01-09 13:32:28 +09:00
9aaeb6fe1a
AP_GPS: Add missing GPS Types
2017-01-06 21:24:42 +00:00
8419045aea
Spell in comments
2017-01-06 10:57:39 -08:00
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
453ced4a38
AP_GPS: remove unused EKF1 include
2016-12-19 08:07:11 +11:00
b296bc1d00
GPS: MAV driver fix for sanity checks of cog, sat count
2016-12-08 15:52:26 +09:00
8118222946
GPS: MAV driver fix for GPS_INPUT altitude
2016-12-08 15:52:26 +09:00
9e62f12dd7
GPS: MAV driver gets support for HIL_GPS message
2016-12-08 15:52:26 +09:00
d97861d685
AP_GPS: Ublox: Skip SBAS request if we don't want to alter it
2016-11-21 14:15:19 +09:00
c62050dc1b
AP_GPS_SBF: fix accuracy reported by driver
2016-11-12 16:42:35 +09:00
5b66062f85
AP_GPS_PX4: unsubscribe on driver destruction.
2016-11-07 08:00:57 -03:00
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
c5f8d8a695
AP_GPS_SBF: change reported altitude from geoid to MSL
2016-11-01 13:06:59 +09:00
aeb1de08f5
AP_GPS: fix MAV compile error
2016-10-29 16:45:00 +09:00
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
7b75a4ec09
AP_GPS: add missing parameter metadata
2016-10-27 09:15:03 -07:00
af332cb336
AP_GPS: use const reference
2016-10-27 15:05:58 +11:00
1dec6dd9b0
AP_GPS: Update parameter documentation
...
Add brief description of body frame conventions.
2016-10-27 14:54:45 +11:00
b51c9dea6c
AP_GPS: Add parameters defining antenna offset in body frame
2016-10-27 14:54:41 +11:00
762a66c9e5
AP_GPS_SBF: Adjust the initial value of HDOP
2016-10-26 09:54:59 +11:00
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
6e72c899d1
AP_GPS: AP_GPS_GSOF: remove unused variable
2016-10-24 08:57:56 -02:00
e17a71c6cc
AP_GPS: AP_GPS_NOVA: remove unused variables
2016-10-24 08:57:55 -02:00
e6e6e36da7
AP_GPS_MAV: fix hdop conversion
2016-10-18 20:24:55 +09:00
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
9caf44b494
AP_GPS: update drivers for changed inject_data() API
...
need 16 bit length
2016-10-11 11:00:35 +11:00
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
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
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
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
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
9c4b3ec1e1
AP_GPS: Fix incorrect incrementing of last_baud rate
...
This is a revert of 7c3b8dceb
2016-09-25 08:50:47 -07:00
11c376588d
AP_GPS_NOVA: support tersus/novatel/comnav gps
2016-09-20 10:53:49 +10:00
06388b0417
Global: Fix typos
2016-09-17 00:36:36 -03:00
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
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
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
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
cc4fafc3e4
AP_GPS_PX4: fixed GPS epoch calculations
2016-08-02 11:20:48 +10:00
6e224158f1
AP_GPS_MAV: use GPS_INPUT_IGNORE_FLAGS
2016-07-12 15:44:46 +09:00
e34aa0bc72
AP_GPS_MAV: minor formatting fixes
...
No functional change
2016-07-12 15:44:19 +09:00
4249f7dbe6
AP_GPS: Add GPS_MAV type and accept GPS_INPUT message
2016-07-12 15:34:27 +09:00
174cefa8a5
AP_GPS: use ARRAY_SUBSCRIPT instead of bytes field
...
That fixed compilation issues and seems more semantically correct. Using array
of length 0 fails compilation because of -Werror=array-bounds in GCC 6.1.
2016-06-23 21:02:05 -03:00
2239fd6a6e
AP_GPS: fixed hexdigit in NMEA detector
...
thanks to adorus for spotting this! See issue#4255
2016-06-06 07:36:31 +10:00
af116d238f
AP_GPS: use zero length flexible arrays
...
this works with gcc-6.1 and also works with asan. Hopefully it will
make coverity happy too.
2016-05-25 19:55:49 +10:00
035937ea7e
AP_GPS: add some safety checks to _parse_decimal_100()
2016-05-20 10:06:45 -03:00
994b2fc966
AP_GPS: add unit test for _parse_decimal_100()
2016-05-20 10:06:44 -03:00
fc6dd97e61
AP_GPS: make _parse_decimal_100() a static function
...
This allows to easily write tests for it as opposed to having to
construct the entire object.
2016-05-20 10:06:44 -03:00
7379d120e1
AP_GPS: fix _parse_decimal_100() with negative numbers
...
_parse_decimal_100() did not parse the fractional part for negative
numbers. Furthermore, use the third decimal (when present) for proper
rounding.
2016-05-20 10:06:44 -03:00
39bd196481
AP_GPS: do not use flexible array in union
...
We actually don't want a flexible array in this union, but rather a way
to access it byte by byte. This fixes the build for gcc >= 6
In file included from ../../libraries/AP_GPS/AP_GPS.cpp:24:0:
../../libraries/AP_GPS/AP_GPS_ERB.h:93:23: error: flexible array member in union
uint8_t bytes[];
^
compilation terminated due to -Wfatal-errors.
In file included from ../../libraries/AP_GPS/AP_GPS_ERB.cpp:22:0:
../../libraries/AP_GPS/AP_GPS_ERB.h:93:23: error: flexible array member in union
uint8_t bytes[];
^
compilation terminated due to -Wfatal-errors.
In file included from ../../libraries/AP_GPS/AP_GPS_MTK.cpp:25:0:
../../libraries/AP_GPS/AP_GPS_MTK.h:75:23: error: flexible array member in union
uint8_t bytes[];
^
compilation terminated due to -Wfatal-errors.
In file included from ../../libraries/AP_GPS/AP_GPS_MTK19.cpp:26:0:
../../libraries/AP_GPS/AP_GPS_MTK.h:75:23: error: flexible array member in union
uint8_t bytes[];
^
compilation terminated due to -Wfatal-errors.
In file included from ../../libraries/AP_GPS/AP_GPS_SIRF.cpp:22:0:
../../libraries/AP_GPS/AP_GPS_SIRF.h:101:23: error: flexible array member in union
uint8_t bytes[];
^
compilation terminated due to -Wfatal-errors.
In file included from ../../libraries/AP_GPS/AP_GPS_UBLOX.cpp:23:0:
../../libraries/AP_GPS/AP_GPS_UBLOX.h:387:23: error: flexible array member in union
uint8_t bytes[];
^
compilation terminated due to -Wfatal-errors.
2016-05-16 13:50:39 -03:00
4047fb63fc
AP_GPS: Fix typos
2016-05-13 19:20:06 -03:00
41661f815f
AP_Math: Replace the pythagorous* functions with a variadic template
...
The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
2016-05-10 11:41:26 -03:00
5ddb872b79
AP_GPS: allow Replay to set last sample time
2016-05-07 18:27:23 +10:00
428923b4b1
AP_GPS: use 3D velocity for uBlox
...
this makes uBlox use the 3D velocity for ground course and speed,
ensuring we use a consistent value everywhere (so same vector in EKF
as in navigation)
2016-05-07 18:27:23 +10:00
d24bbcd1ff
AP_GPS: convert vdop to cm
2016-05-07 18:27:22 +10:00
b424c49bc7
AP_GPS: change ground course to be in degrees
...
more accuracy for replay
2016-05-07 18:27:21 +10:00
4e5f1374da
AP_GPS: added setHil_Accuracy()
2016-05-07 18:27:19 +10:00
c85607b80c
AP_GPS: added time_epoch_convert() function
...
used by replay to get identical timestamps
2016-05-07 18:27:18 +10:00
69e233a39d
AP_GPS: fixed init string for SBF GPS
...
coverity #125042
2016-04-26 16:51:29 +10:00
3c7b2232b0
AP_GPS_GSOF: remove unused last_hdop
...
resolves a compiler warning
2016-04-23 23:06:22 -07:00
2a214f1e46
AP_GPS: support a wider variety of NMEA receivers
...
some reeivers use a different talker ID. This allows us to accept
them.
2016-04-18 15:30:17 +10:00
ff10d1136c
AP_GPS: reorganize includes
...
Due to the way the headers are organized a single change in a
AP_GPS backend would trigger a rebuild for most of the files in the
project. Time could be saved by using ccache (since most of the things
didn't change) but we can do better, i.e. re-organize
the headers so we don't have to re-build everything.
This makes internal headers internal and then other libraries only
depend on the AP_GPS.h header.
2016-04-14 21:01:51 -03:00
affa759fb4
AP_GPS: add missing override
2016-04-13 11:27:19 -03:00
2538c17ee0
AP_GPS: add fetching of gps configuration failure reasons
2016-04-13 11:24:01 -03:00
5bd034a5a8
Global: start using cmath instead of math.h
2016-04-05 21:06:19 -07:00
92106a944f
AP_GPS_UBLOX: add data injection support
2016-03-18 15:51:32 +11:00
cd266fbf4f
AP_GPS: replace header guard with pragma once
2016-03-16 18:40:40 +11:00
3933ac2a63
AP_GPS: Added ERB to AP_GPS
2016-03-02 06:04:52 -08:00
7e2c822499
AP_GPS: Structure for detect ERB
2016-03-02 06:04:46 -08:00
97190c89d1
AP_GPS: ERB GPS driver
...
ERB - Emlid Reach Binary protocol.
That driver designed for communication between Reach
and ArduPilot.
Provided opportunities:
- Detection of the driver
- Parsing of input messages: status of transmitter
and navigation information.
- Inject GPS messages from base
2016-03-02 06:04:39 -08:00
04bac8a446
AP_GPS: removed duplicate dataflash write of ublox version
2016-02-24 14:26:57 +11:00
14bd4ba2c7
AP_GPS: removed console print for GPS type
...
it is now sent as a STATUSTEXT
2016-02-24 14:22:48 +11:00
1426ff2732
AP_GPS: Broadcast what type of GPS is found and at what baud rate
2016-02-24 14:22:48 +11:00
12fab6c59a
AP_GPS: save cfg only when needed
...
added GPS_SAVE_CFG param option 2
2016-02-12 15:33:33 -08:00
18163bd01f
AP_GPS_UBLOX: save cfg only when needed
...
added GPS_SAVE_CFG param option 2
2016-02-12 15:33:18 -08:00
55e64b3622
AP_GPS: u-blox: copy paste typo in a #else
2016-02-12 15:33:08 -08:00
217a06322b
AP_GPS: u-blox: don't throw 5hz update warnings if no fix
...
5hz update warnings are only valid if you have a fix, without a fix it adds load
to the GPS without any benefit. Our _5hz time messages are depenend upon GPS fix
time which isn't available yet
2016-02-12 15:32:41 -08:00
726bf110cc
AP_GPS: update save_cfg description
...
Saving config is not expected to work on a LEA-6H based on user reports, so the parameter should warn of this
2016-02-12 00:37:05 -08:00
4251ee0e4b
AP_GPS: u-blox verify ublox settings
...
The ublox driver will now continuosly poll for the settings from the GPS and correct any that are found to be in correct.
This status is then reported to the arming library as an additional arming check, allowing the user to be sure that the
gps is correctly configured before using it. If a user has a GPS2 configured that is not present they will fail the arming
checks until after they have disabled the second GPS.
2 new parameters were introduced as well:
-GPS_AUTO_CONFIG: Will not request any configuration packets to attempt to change them. (If the packet is recieved then
a update will be sent to it, but in testing this scenario never occured. This is set to 1 or 0 to change the setting.
(Defaults to 1 enabling auto config)
-GPS_GNSS_MODE2: Behaves the same way as GPS_GNSS_MODE but only applies to the second GPS.
GPS drivers are now allowed 2 seconds of non responsiveness before being unloaded
2016-02-12 00:37:04 -08:00
a7079b730a
AP_GPS: GPVTG can give new velocity
2016-02-11 18:46:01 +11:00
4beb1748c5
AP_GPS: better handle corrupted NMEA sentences
...
when a NMEA sentence is corrupted we should discard it
completely. This change prevents us considering a set of sentences
that includes corrupted sentences from being seen as new data
2016-02-11 18:46:01 +11:00
ede7ffedfc
AP_GPS: correct #if from UBLOX_DEBUG to UBLOX_DEBUGGING
2016-01-30 12:48:39 -02:00
c2e3f05dbf
waf: ardupilotwaf: prefix build context methods with ap_
...
It helps to distinguish between things from waf and things from ardupilotwaf.
2016-01-22 20:10:29 -02:00
3d22490397
waf: examples: use methods from bld instead of ardupilotwaf
2016-01-22 20:10:29 -02:00
d281067bcc
waf: make example binaries be placed in 'examples' dir
...
This commit makes examples' wscripts use ardupilotwaf.example() instead of
ardupilot.program().
2016-01-15 16:46:41 -02:00
8c9eafeb3c
AP_GPS: Fix param docs that had incorrect spaces
...
The spaces between values aren't stirpped by the autodoc tool that generates the XML files
2016-01-08 20:17:54 +11:00
a42b286c01
AP_GPS_SBF: update logging based on vendor recommendation.
2016-01-08 10:47:05 +11:00
dee20a31f1
AP_Notify: Add gps_num_sats
2016-01-07 14:32:56 -02:00
04dc7130f5
AP_GPS: fix example build
2015-12-29 10:46:35 -08:00
a096703b06
Global: don't link with AP_Progmem
...
AP_Progmem is not used anymore.
2015-12-27 15:58:12 -02:00
5bb4e3eda9
AP_GPS: stop using Progmem.h
...
Besides the trivial convertions, while reading
initblob_state[instance].blob we need to be sure to read only one byte
like we were before.
2015-12-27 15:58:12 -02:00
bc8ee8af36
AP_GPS: added QURT GPS
2015-12-27 16:21:26 +11:00
800c142ac0
BH: Support UBLOX GPS M8N
2015-12-21 15:54:30 +11:00
1c1eea6119
AP_GPS_SBF: add sd logging by default, improve init
2015-12-07 21:56:44 +09:00
0bcc6e324a
AP_GPS_SBF: formatting fixes
2015-12-07 21:56:42 +09:00
2b5417046b
AP_GPS: remove unused AP_ADC_AnalogSource
2015-12-03 13:32:43 +11:00
0f9e7a905d
AP_GPS: remove use of AddLogFormats
2015-12-03 13:21:52 +11:00
2f97f9f416
AP_GPS: Fix incorrect values docstring on RAW_DATA
2015-12-03 10:17:22 +09:00
6e7b73610d
waf: add waf support
2015-12-03 07:54:30 +11:00
2591261af6
Global: rename min and max macros to uppercase
...
The problem with using min() and max() is that they conflict with some
C++ headers. Name the macros in uppercase instead. We may go case by
case later converting them to be typesafe.
Changes generated with:
git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)max(/\1MAX(/g'
git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)min(/\1MIN(/g'
2015-12-01 16:28:09 -02:00
c33b86a783
AP_GPS: use millis/micros/panic functions
2015-11-20 12:30:48 +09:00
36c0beb918
GPS_UBlox: reorder init to resolve compiler warning
...
Also removed duplicate init of noReceivedHdop
2015-11-16 15:09:17 +09:00
8f4ce7f20b
build: removed all nocore.inoflag files
...
these were APM2 specific
2015-11-16 08:05:17 +11:00
2f49fa1531
AP_GPS_GSOF: add second comport to base config
2015-11-15 14:56:49 +08:00
5e2382ea09
AP_GPS:UBLOX: send save cfg msg once per 5s and 5 times only
2015-11-10 15:16:55 +11:00
360c09f9bd
AP_GPS_UBLOX: send cfg save msg only once every 1 second
2015-11-10 15:16:55 +11:00
bc708f9808
AP_GPS: add SAVE_CFG parameter make ublox config saving optional
2015-11-10 15:16:55 +11:00
e82df48631
AP_GPS: save configuration to non-volatile memory in UBlox GPS
2015-11-10 15:16:55 +11:00
1a9b57da1f
AP_GPS: remove check for GPS_SKIP_SIRF_NMEA
2015-11-04 12:14:15 +11:00
e31595c60c
AP_GPS: remove check for GPS_RTK_AVAILABLE
2015-11-04 12:14:15 +11:00
c75c1d84d9
AP_GPS: remove check for GPS_MAX_INSTANCES
...
All supported boards may have more than 1 GPS instance.
2015-11-04 12:14:15 +11:00
4cef751aef
AP_GPS: remove check for AVR CPUs
...
Remove the checks for HAL_CPU_CLASS > HAL_CPU_CLASS_16 and
HAL_CPU_CLASS >= HAL_CPU_CLASS_75. Corresponding dead code will be
removed on separate commits.
2015-11-04 12:14:14 +11:00
24e5deb906
AP_GPS: remove comments about AVR boards
2015-11-04 12:14:11 +11:00
5244559010
Minimize AP_Progmem.h includes
...
Most of AP_Progmem is already gone so we can stop including it in most
of the places. The only places that need it are the ones using
pgm_read_*() APIs.
In some cases the header needed to be added in the .cpp since it was
removed from the .h to reduce scope. In those cases the headers were
also reordered.
2015-10-30 14:35:32 +09:00
1b07dabeb7
Replace prog_char and prog_char_t with char
...
prog_char and prog_char_t are now the same as char on supported
platforms. So, just change all places that use them and prefer char
instead.
AVR-specific places were not changed.
2015-10-30 14:35:30 +09:00
20c6ffc5e3
Replace use of UARTDriver::printf_P() with UARTDriver::printf()
...
This also starts to show warnings on places that were already using
wrong printf format strings.
2015-10-30 14:35:25 +09:00
a964ac38ec
Replace use of print_P() with print()
2015-10-30 14:35:21 +09:00
831d8acca5
Remove use of PROGMEM
...
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.
2015-10-30 14:35:16 +09:00
aa370fe758
Replace use of strcmp_P() with strcmp()
2015-10-30 14:35:09 +09:00
2c38e31c93
Remove use of PSTR
...
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.
2015-10-30 14:35:04 +09:00
db1491f079
AP_GPS: remove unnecessary board includes from examples
2015-10-21 09:16:11 +11:00
ec52df991c
build: compile only the HAL files needed by the board
...
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.
2015-10-21 09:16:07 +11:00
2e464a53c2
AP_HAL: make code not depend on concrete HAL implementations
...
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'.
2015-10-21 09:16:07 +11:00
b5abab9d37
AP_GPS_GSOF: minor tweak to avoid warning
...
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.
2015-10-10 14:34:54 +09:00
8ec9ab6ad3
AP_GPS: add SBF and GSOF to gps documentation
2015-10-06 15:00:46 +11:00
0fceb76493
AP_GPS_GSOF: add trimble gsof driver
2015-10-06 15:00:46 +11:00
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
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
6fbe88ba3a
AP_GPS: improved fake ublox to give enough for EKF health
2015-09-14 11:36:15 +10:00
e87139eb32
AP_GPS: fixed a build warning
2015-09-14 11:36:10 +10:00
d07d2f3a46
AP_GPS: removed UBX3 message
...
replaced by GPA and GPA2 messages
2015-09-09 15:01:45 +10:00
f1322252ae
GPS: fix GNSS_MODE param descriptions
...
Thanks to Michael DuBreuil for noticing the problem and providing the correction
2015-09-09 13:40:32 +09:00
88cf710f94
AP_GPS_SBF: add accuracy estimates
2015-09-09 12:28:25 +10:00
9f02834f6d
AP_GPS: Broadcast vDOP data over mavlink
2015-09-09 11:38:12 +10:00
0e3a188f6f
AP_GPS: Read the vdop information from a ublox GPS
2015-09-09 11:38:12 +10:00
993904f01c
AP_GPS_SBF: add init string and increase union size
2015-09-07 12:11:47 +10:00
cce46cf0c5
AP_GPS_SBF: add support for Septentrio gps
2015-09-03 19:43:31 +10:00
6701d53d49
GPS: add GNSS_MODE parameter bitmask
2015-09-01 12:19:59 +09:00
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
9ef6abf613
AP_GPS: config file for Ublox M8N
...
This is not directly used by the driver but this directory is where we place the recommended GPS config files
2015-08-27 09:54:22 +09:00
816d1f0e1b
AP_GPS: resolve compiler warning re init order
2015-08-25 13:51:33 +09:00
31f20db139
AP_GPS: provide hdop and speed accuracy with UAVCAN GPS
2015-08-23 09:49:52 +10:00
55beb6bc0f
AP_GPS: standardize inclusion of libaries headers
...
Do the missing header changes due to changing the code before the pr
getting accepted.
2015-08-18 17:12:51 +10:00
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
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
c29b19f768
AP_GPS: Fix a typo on spelling received
2015-08-08 13:22:04 +09:00
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
c704102dcd
AP_GPS: Default the value of hdop to 99.99 if no value has been read yet.
2015-08-04 22:10:02 +09:00
087e729748
AP_GPS: re-enable SBAS config on APM2 for uBlox
2015-07-30 11:04:31 +10:00
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
8aa7a3cffc
GPS: suppress compile warning
2015-07-29 16:53:18 +09:00
be6089e903
GPS: fix compile warning for NMEA logging
2015-07-29 16:53:16 +09:00
25fe2b3fb0
AP_GPS: added optional NMEA debug log
...
compile time option for debugging
2015-07-29 11:07:01 +10:00
5c9d248407
AP_GPS: Fix copy/paste error in ublox (uncovered by coverity)
2015-07-28 18:01:02 +09:00
9d53aa77eb
AP_GPS: Add reboot required docstring
2015-07-25 10:56:19 +09:00
59dda49cce
AP_GPS: Fix missing reserved fields in the UBX-RXM-RAWX message
2015-07-22 21:31:10 +10:00
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
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
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
19bb96b9cb
AP_GPS: Improve startup logic for detecting what gps is connected
...
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
2015-07-22 21:31:09 +10:00
6f72d202fe
GPS: fix parameter descriptions
2015-07-21 19:50:12 +09:00
9d59b43920
AP_GPS: use ARRAY_SIZE macro
2015-07-21 14:24:54 +09:00
3b1b7ea029
AP_GPS: fixed time handling with NMEA driver
2015-07-20 09:15:32 +10:00
a852e48f37
AP_GPS_NMEA: fix gps startup
...
when no valid gps data, gps would restart in a loop. Take the frame without
gps fix into account for frame counting
2015-07-20 09:14:15 +10:00
7d2fe3cc2b
AP_GPS_UBlox: remove unused member
2015-07-14 15:02:15 +09:00
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
4b015d2091
AP_GPS: remove compiler warnings
2015-07-14 15:02:10 +09:00
df3a04e284
AP_GPS: reduce fake Ublox hdop to 130
2015-07-14 15:02:08 +09:00
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
b32259307d
AP_GPS: Add baudrate 230400 for GPS
...
Needed by bebop gps by default
2015-07-10 10:12:52 +10:00
20a04bad77
AP_GPS: request RMC message in NMEA driver
2015-07-06 11:16:12 +10:00
5d5d9dc137
AP_GPS: Fix max/min bug on SBP buffering. Log messages whether SBP driver recognizes the msg_type or not.
2015-07-06 10:53:35 +10:00
21c895f6f3
AP_GPS: prevent extra NMEA messages causing rapid fix rates
...
unexpected messages could cause the GPS driver to report a very high
fix rate, which can confuse the EKF
2015-07-03 22:08:05 +10:00
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
38a8a772f8
AP_GPS: Add fix status 3D+DGPS
2015-06-30 09:00:31 +10:00
ef20676c67
GPS: fix INJECT_TO param desc and add definition
...
No functional change
2015-06-27 16:31:03 +09:00
f77ffd30f6
AP_GPS: fixed HIL GPS driver to make have vertical velocity sticky
2015-06-17 12:46:56 +10:00
3544549cf4
AP_GPS: Allow switching primary GPS instance with 1 sat difference
...
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
2015-06-11 21:33:06 +10:00
c6c6e2dc13
AP_GPS: add comments to example sketch
2015-06-08 10:04:36 +09:00
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
e18a2df64e
AP_GPS: convert example from .pde to .cpp
2015-06-01 16:58:11 +10:00
7320a35ad2
AP_GPS: convert example from .pde to .cpp
2015-06-01 16:58:11 +10:00
084521243e
AP_GPS: fixed some build warnings
2015-05-30 22:51:00 +10:00
feb85ef7d5
AP_GPS: unused SBP struct gets 64-bit timestamp
2015-05-27 11:54:16 +10:00
4d67ccb338
AP_GPS: use 64-bit timestamps for dataflash logs
2015-05-27 11:54:16 +10:00
b0932548d8
AP_GPS: enable NMEA GPS on AntennaTracker
...
we have enough flash space for it
2015-05-21 07:30:21 +10:00
fa4ba456b4
GPS: fix example sketches
2015-05-07 14:01:14 +09:00
878eb88c3a
AP_GPS: avoid expanding the ublox buffer on APM2
2015-05-05 13:25:34 +10:00
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
a7c3125bcc
AP_GPS: fixed warnings in SBP driver
2015-05-05 09:45:57 +10:00
2be45bc7e6
AP_GPS: fix for HAL_SITL rename
2015-05-05 09:45:55 +10:00
f21aa17980
AP_GPS: fixed sending of GPS_RAW_INT with multiple links
...
thanks to ziltoid2 for this fix! See PR #2132
2015-04-24 08:21:00 +10:00
a5beef00d1
GPS: Official Swift Binary Protocol GPS Driver v3 for Piksi GPS
...
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
2015-04-24 08:01:32 +10:00
7e43eaafab
GPS: TYPE param description to PX4-UAVCAN
2015-04-23 20:17:26 +09:00
4a3e61f4e4
AP_GPS: turn UBlox autodetection only for NavIO
2015-04-14 10:45:49 +10:00
47a336d192
AP_GPS: added Ublox' hardware generation autodetection
2015-04-14 10:45:49 +10:00
be67b019a7
AP_GPS: Add missing setup for GPS_AUTO_test
...
GPS_AUTO_test was missing some setup lines.
2015-04-14 09:27:41 +10:00
cbcd32d698
GPS: integrate Serial Manager instance
2015-04-01 14:59:20 -07:00
883e23b97d
GPS_Glitch: remove class
...
This logic is now within the EKF
2015-03-13 16:40:48 +09:00
e0870d5038
AP_GPS: disable NMEA and SiRF on AVR 2560
...
we are too low on flash space for plane on APM2 now
2015-03-13 10:30:00 +11:00
5da80f44b1
AP_GPS: fixed MTK1.6 time handling
...
my MTK1.6 does not use hectoseconds, it uses milliseconds
2015-03-13 10:29:36 +11:00
a2d5ac6805
AP_GPS: add includes for success build example sketch
...
include AP_Scheduler.h for achieve build GPS_UBLOX_passthrough example
2015-03-11 21:30:31 +09:00
e7e9e1adf0
AP_GPS: Changes to fix the warnings in rover sitl build.
...
We are starting the process of resolving all the warnings in the
ardupilot builds of all vehicles and platforms.
2015-02-11 18:16:45 +11:00
a8c1d3a134
AP_GPS: fixed SerialManager for test sketches
2015-02-09 11:47:31 +11:00
362b53e1da
AP_GPS: force flow control off on GPS serial ports
2015-01-29 15:53:20 +11:00
9ba2fefde3
AP_GPS: update for find_serial() change
2015-01-29 15:37:08 +11:00
ebf5f98dbd
GPS: detect_instance does not set uart rx, tx size
2015-01-29 14:05:12 +11:00
2eddecb10d
GPS: use SerialManager for init
2015-01-29 14:05:12 +11:00
1141363868
GPS: fix example sketches
2015-01-28 17:15:39 +09:00
62e7778ba8
AP_GPS: fixed build warning
2015-01-19 11:22:10 +11:00
d34e5b3f42
AP_GPS: fixed PX4 GPS driver for new upstream format
2015-01-09 11:37:38 +11:00
ef55a3c6a6
AP_GPS: keep reporting GPS status messages when no GPS at 1Hz
...
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
2015-01-02 17:10:23 +11:00
3354cb37d0
AP_GPS: fixed vertical velocity in Replay
...
fixed NavEKF use of velocity velocity
2014-12-09 18:57:17 +11:00
ebed80cd2a
AP_GPS: work-around for invalid time reported by PX4 GPS
2014-11-28 13:30:21 +01:00
df7c4baed9
AP_GPS: check lock type before accepting position and speed information
2014-11-28 13:26:51 +01:00
908ad46e8e
AP_GPS: fixed example build
2014-11-28 10:40:26 +11:00
809ff15b43
AP_GPS: make NMEA driver a bit easier to read
...
thanks to crashpilot100
2014-11-16 14:12:14 +11:00
b81b9e1bb8
AP_GPS: prevent bad NMEA strings from causing overruns in parser
...
fixes issue #961
thanks to crashpilot100 for spotting this!
2014-11-16 14:08:20 +11:00
d3b087d2c1
AP_GPS: fixed build on non-PX4 platforms
2014-11-14 14:48:42 +11:00
e69582aa1c
AP_GPS: added PX4EXPERIMENTAL to GPS type drop down
2014-11-14 14:39:46 +11:00
abad58874c
AP_GPS: enable GNSS modules handled by PX4 firmware via GPS_TYPE
...
GNSS modules handled by PX4 drivers are not auto-detectable, some are not even
connected to a UART port. The activation is therefore controlled by GPS_TYPE
only. Baud rate and port settings (if applicable) have to be handled by the PX4
firmware.
2014-11-14 14:36:10 +11:00
442aafbd1e
AP_GPS: add proxy driver for GNSS modules handled by PX4 firmware
2014-11-14 14:36:10 +11:00
46c8714996
AP_GPS: make the examples compile in Linux
2014-11-08 11:25:35 +11:00
2293070a5b
AP_GPS: Add uBlox accuracy metrics interface and logging
2014-11-06 07:38:41 +11:00
8a776f8ff8
GPS: init primary_instance to zero
2014-10-29 12:04:13 +09:00
010d267376
GPS: use primary for Notification
2014-10-29 12:04:12 +09:00
6848897999
AP_GPS: Add agcCnt to UBX1 message
2014-10-29 08:18:04 +11:00
be352e9471
AP_GPS: Removed CFG-DAT message from 3DR-Ublox-NEO7
...
CFG-DAT is generated by U-Center but no longer used by the receiver.
2014-10-06 11:21:42 -07:00
7367ea04a7
AP_GPS: Adding support for the NEO7 GPS
2014-10-03 03:21:28 -07:00
e7b4a02d26
GPS: fix SIRF set-binary message
...
This fixes an issue in which the the update rate for the mediatek, which
uses a similar protocol, was not being set correctly
2014-10-01 11:42:31 +09:00
15470bd81b
AP_GPS: added GPS_MIN_ELEV parameter
...
allows setting of satellite elevation mask in degrees
2014-09-04 14:46:10 +10:00
840a4dee1e
AP_GPS: added GPS_SBAS_MODE parameter
...
allows SBAS to be enabled/disabled
2014-09-04 14:46:10 +10:00
cd50fe82b6
AP_GPS: fixed GPS time in HIL
...
account for 10 year difference in epoch between unix time and GPS time
2014-09-04 06:37:42 +10:00
60e501d5ab
AP_GPS: moved UBX log headers to DataFlash
...
headers were not always being written
2014-08-19 10:08:15 +10:00
534922adc3
GPSGlitch: init members to resolve compiler warnings
2014-08-14 11:27:31 +09:00
b08b76b8ff
AP_GPS: fixed example build
2014-08-13 21:48:35 +10:00
c97b460a6b
AP_GPS: removed wrong reassignment of msec
...
Signed-off-by: Daniel Frenzel <dgdanielf@gmail.com>
2014-08-11 09:24:19 +10:00
b296508da4
AP_GPS: make setHIL take const references
2014-08-09 22:50:15 +10:00
db1479b46b
AP_GPS: fixed example build
2014-07-25 17:54:25 +10:00
70aafa380e
GPS_UBLOX: fix test to work with AP_HAL_Linux.
...
Some libraries were missing.
2014-07-14 09:29:18 +10:00
f630f9abc3
GPS: exclude SIRF and NMEA on APM copter build
...
This only works for the centralised builder, the modified Arduino IDE
will still include the NMEA and SIRF drivers meaning it will require
approximately 4k additional flash which may push us over the limit on
the APM2. Users will instead need to exclude other features to get
below the APM1/2 flash limit.
2014-07-13 15:41:11 +09:00
59de5a8465
AP_GPS: avoid some float conversion warnings
2014-07-08 20:27:03 +10:00
fabd7601f0
GPS: Fix dataflash logging bug in SBP driver
2014-07-03 09:57:10 +10:00
b57d1f5245
GPS: Include 75-class CPUs in RTK support since they will have 64 bit floating point values.
2014-07-03 09:57:07 +10:00
f9d87bcc88
AP_GPS: fixed build errors and warnings in SBP driver
...
shadowed variables and implied casts in structures
2014-06-30 11:15:51 +10:00
fa78634959
AP_GPS: GPS calculates MAVLink messages for GPS and GPS_RTK
2014-06-30 10:30:16 +10:00
2b1169b0ab
AP_GPS: SwiftNav RTK Driver and GPS AutoSwitch param
2014-06-30 10:29:56 +10:00
69ad632e2a
GPS: correct NAVFILTER parameter description
...
These corrected values match the GPS_Engine_Setting enum in GPS.h
Thanks to Adolfo R for noticing the issue and providing the fix
2014-05-20 22:08:40 +09:00
30f5e2c37f
AP_GPS: work around scheduling issue in example code
2014-05-16 22:35:32 +10:00
73976e2ca4
AP_GPS: fixed example build
2014-05-16 22:05:04 +10:00
0bb7b8e938
AP_GPS: Fix bug that causes permanent lag if we miss a message
2014-04-29 15:35:46 +10:00
b0fd94f18e
AP_GPS: initialise a variable in uBlox driver
2014-04-23 18:15:53 +10:00
5a7afbf2cd
AP_GPS: prevent writing GPS log headings multiple times
2014-04-20 21:44:14 +10:00
3b8839d2f7
AP_GPS: fixed num_sensors on APM2
2014-04-11 21:32:55 +10:00
a821b0e198
AP_GPS: fixed a build warning
...
Debug() should not be exposed in public headers
2014-04-10 10:28:55 +10:00
43ebd86bb1
AP_GPS: disable SBP driver on APM2
...
the driver uses double precision floating point, which can't work on
8bit AVR with gcc
2014-04-05 21:47:46 +11:00
5a585b90e8
AP_GPS: fixed some warnings in SBP driver
2014-04-05 14:18:01 +11:00
33576dfdd9
AP_GPS: Swift Binary Protocol SINGLE-POINT-POSITIONING Driver
...
This is the SBP driver for Piksi, Lodestar and other forthcoming Swift Navigation GPSes.
This driver currently implements three things:
- Implements a lightweight SBP protocol detection system
- Implements Piksi as a single-point-positioning GPS (same as ublox/others)
- Implements hardware logging of GPS health and baseline messages
Forthcoming iin future updates:
- Need to implement the RTK functionality
2014-04-05 13:42:23 +11:00
552f33b39e
AP_GPS: Support fix types of DGPS and RTK
2014-04-05 13:42:23 +11:00
67ed5b73ef
AP_GPS: added lock_port() interface
...
used by SERIAL_CONTROL message
2014-04-05 07:34:33 +11:00
d9d038345a
AP_GPS: save 800 bytes of code space on APM2
...
we can assume a single GPS
2014-04-04 10:08:28 +11:00
9f857529ca
AP_GPS: auto-switch primary GPS based on status and number of satellites
2014-04-04 08:32:34 +11:00
21c205a57e
AP_GPS: cope with different MON-HW message size in u-Blox Neo7
2014-04-03 10:55:05 +11:00
3a92d75936
Ublox: Enable 1Hz Lock LED by default
2014-04-01 20:57:18 -07:00
e40a048009
AP_GPS: handle multiple GPS in GPS setHIL()
2014-04-02 07:55:28 +11:00
79f5618f6f
AP_GPS: zero state structure on driver release
...
this ensures no values are left from the previous driver
2014-04-02 07:55:28 +11:00
7e2ef0cfc0
AP_GPS: fixed GPS for Replay
2014-04-01 17:25:15 +11:00
77e2f48581
AP_GPS: fixed notify updates for new API
2014-04-01 06:38:25 +11:00
9781175bf5
AP_GPS: fixed handling of driver destruction
...
this allows for more complex destructors, and ensures we don't have
multiple backends allocated at once per instance
2014-04-01 06:38:25 +11:00
7ceba8dce4
AP_GPS: prevent double allocation of GPS drivers
2014-04-01 06:38:25 +11:00
8779ffe088
AP_GPS: flush pending config strings when uBlox starts
2014-04-01 06:38:25 +11:00
0191355488
AP_GPS: fixed init strings to all be in progmem
...
and sent async ...
2014-04-01 06:38:25 +11:00
c2486d8d6e
AP_GPS: updated examples for new API
...
removed old per-driver examples, and updates AUTO example
2014-04-01 06:38:25 +11:00
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
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
Dr.-Ing. Amilcar Do Carmo Lucas
Michael du Breuil
Lucas De Marchi
chobitsfan
Andrew Tridgell
Peter Barker
Eugene Shamaev
Francisco Ferreira
ebethon
Rob Ratcliff
priseborough
Niels Joubert
Pierre Kancir
Jacob Walser
Pierre Kancir
Randy Mackay
Michael Oborne
murata
Holger Steinhaus
Mathieu OTHACEHE
Michael du Breuil
Andy Little
Matthew Brener
Lee Hicks
Allan Matthew
Gustavo Jose de Sousa
Bert Regelink
Ricardo de Almeida Gonzaga
dgrat
Alexey Bulatov
Tom Pittenger
mirkix
Jonathan Challinger
Aaron Wang Shi
Caio Marcelo de Oliveira Filho
Siddharth Bharat Purohit
Andy Piper
Julien BERAUD
kozinalexey
dzollo
mirkix
Peter Barker
Micheal Knight
Staroselskii Georgii
ustas
Grant Morphett
Holger Steinhaus
Andrew Tridgell
Victor Mayoral Vilches
Benoit PEREIRA DA SILVA
Craig Elder