Commit Graph

46 Commits

Author SHA1 Message Date
bugobliterator ddc50a8420 AP_GPS: add option to set a dedicated line for Moving Baseline Data 2021-08-19 14:20:58 +10:00
bugobliterator 9fc57e40b4 AP_GPS: add support for dual GPS heading using Periph GPSes 2021-08-19 14:20:58 +10:00
Andrew Tridgell 1479566921 AP_GPS: added GPS_DRV_OPTIONS bit for forcing ublox GPS to 115200
this may help with some GPS modules
2021-08-10 10:54:14 +10:00
Andrew Tridgell 02feaaffcd AP_GPS: setup ublox moving baseline at 230400 when using uart2
this avoids issues with needing DMA on the UARTs when using UART2 to
transport RTCMv3 data
2021-05-21 08:49:25 +09:00
Michael du Breuil a3ddf5264d AP_GPS: Support uavcan ardupilot.gnss.Status
Also makes the drive by change to make GPS_Backend::is_configured const
2021-03-12 09:39:55 +11:00
Andrew Tridgell bf51478dd1 AP_GPS: added ExternalAHRS backend 2021-01-05 21:13:12 +11:00
Andrew Tridgell 862ae59e28 AP_GPS: support $PHD message for AllyStay NMEA GPS
this adds vertical velocity support
2020-12-01 09:04:43 +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
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
Michael du Breuil 6a8680d31d AP_GPS: Send RTK baseline data from SBF 2020-09-03 09:56:29 +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 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
Michael du Breuil f8808022b8 AP_GPS: Check the driver logging health 2019-11-20 11:06:16 -07:00
Pierre Kancir 13ac187fd8 AP_GPS: pass mavlink_message_t by const reference 2019-07-16 20:51:42 +10:00
Tom Pittenger 12c3446777 AP_GPS: rename dataflash to logger 2019-03-28 16:40:57 +11:00
Peter Barker b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +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 df68d6413c AP_GPS: moved iTow handling to GPS_Backend 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
Siddharth Purohit ca54123b7d AP_GPS: move UAVCAN GPS related code to AP_GPS_UAVCAN backend 2018-08-29 22:54:59 +01:00
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 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 bfbec02736 AP_GPS: SBF track the GPS error bits 2017-09-27 19:29:32 +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
Michael du Breuil 5f8633e322 AP_GPS: Allow backends to report their lag confidences 2017-06-21 11:44:45 +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
Michael du Breuil 6f297deaf7 AP_GPS: Unify inject_data interface for all classes 2017-04-19 02:05:51 +01:00
Eugene Shamaev dfe9b0e6fc AP_GPS: support for UAVCAN connected GNSS receivers 2017-04-10 22:38:12 +01:00
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
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
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
Allan Matthew 4249f7dbe6 AP_GPS: Add GPS_MAV type and accept GPS_INPUT message 2016-07-12 15:34:27 +09:00
Michael du Breuil 2538c17ee0 AP_GPS: add fetching of gps configuration failure reasons 2016-04-13 11:24:01 -03:00
Lucas De Marchi cd266fbf4f AP_GPS: replace header guard with pragma once 2016-03-16 18:40:40 +11:00
Michael du Breuil 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
Lucas De Marchi e31595c60c AP_GPS: remove check for GPS_RTK_AVAILABLE 2015-11-04 12:14:15 +11:00
Lucas De Marchi 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
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
Niels Joubert 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
Niels Joubert 2b1169b0ab AP_GPS: SwiftNav RTK Driver and GPS AutoSwitch param 2014-06-30 10:29:56 +10:00
Andrew Tridgell 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
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