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127 Commits

Author SHA1 Message Date
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
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 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 bfbec02736 AP_GPS: SBF track the GPS error bits 2017-09-27 19:29:32 +01:00
Lucas De Marchi 2cb2727a31 AP_GPS: add static create method 2017-09-26 03:01:21 +01:00
Michael du Breuil 04eb7f411e AP_GPS: Track the delta time between the last GPS positions 2017-09-13 13:36:40 +01:00
Peter Barker 7f59279670 AP_GPS: make time_epoch_usec const 2017-07-28 14:27:53 +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 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
Peter Barker 7258cfd20b AP_GPS: check dataflash to see if we should log backend gps messages 2017-06-29 15:43:38 +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
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 1877d09f7c AP_GPS: Don't track detection time to broadcast baud rate 2017-05-30 23:37:59 +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
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
Peter Barker b7baca8d43 AP_GPS: move GPS type announcements into backend 
See #4584
 2017-04-23 21:04:17 +01:00
Peter Barker 2354a0ec5a AP_GPS: ability to log GPS detection state to dataflash 2017-04-23 21:03:23 +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 dfe9b0e6fc AP_GPS: support for UAVCAN connected GNSS receivers 2017-04-10 22:38:12 +01:00
Randy Mackay 2002827de3 AP_GPS: rename pre-arm blending health check 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 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
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
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
Michael du Breuil 1c1e6e9398 AP_GPS: Support more fix types 2017-01-25 03:44:42 +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 8419045aea Spell in comments 2017-01-06 10:57:39 -08:00
Andrew Tridgell af332cb336 AP_GPS: use const reference 2016-10-27 15:05:58 +11:00
priseborough b51c9dea6c AP_GPS: Add parameters defining antenna offset in body frame 2016-10-27 14:54:41 +11:00