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1061 Commits

Author SHA1 Message Date
Andrew Tridgell 3c1a54c3df AP_GPS: added measured lag for Unicore GPS 
measured as 0.14s from flight log
 2022-12-20 10:23:58 +11:00
Andrew Tridgell 9cebe3b880 AP_GPS: added a common velocity_to_speed_course() 
this saves flash using common code
 2022-12-20 10:23:58 +11:00
Andrew Tridgell 29f1c31854 AP_GPS: added GPYW logging for GPS yaw 
this makes it much easier to debug GPS yaw issues, by logging the raw
data even if the yaw is rejected
 2022-12-20 10:23:58 +11:00
Andrew Tridgell c453ff1ce2 AP_GPS: fixed vertical velocity with AGRICA support 
and add health check for unicore GPS
 2022-12-20 10:23:58 +11:00
Andrew Tridgell 55683c51f5 AP_GPS: review changes 2022-12-20 10:23:58 +11:00
Andrew Tridgell d2d6dc8ce4 AP_GPS: only give time if we have a 3D fix 
and ensure we configure rate for GGA and RMC for Unicore
 2022-12-20 10:23:58 +11:00
Andrew Tridgell 6c9cbe1a58 AP_GPS: fixed NMEA time reporting 
basic NMEA does not have an itow, so we need to use time_week_ms

this caused us to always display the time as the start of the GPS week
on NMEA
 2022-12-20 10:23:58 +11:00
Andrew Tridgell a7c5c6b728 AP_GPS: allow for disabling of NMEA Unicore support 2022-12-20 10:23:58 +11:00
Andrew Tridgell 2837471ddf AP_GPS: fixed build without GPS_MOVING_BASELINE 2022-12-20 10:23:58 +11:00
Andrew Tridgell 02d6931c4d AP_GPS: fixed re-probing of NMEA GPS 
when we lost fix on a NMEA GPS we should retain the driver as long as
it is still sending us NMEA messages that pass the CRC check. This
fixes a bug where we would re-probe the GPS (searching baudrates) when
we lost position
 2022-12-20 10:23:58 +11:00
Andrew Tridgell ad9dfe2d51 AP_GPS: added support for Unicore NMEA GPS 
this includes dual-antenna moving baseline support, 3D velocity and accuracies
 2022-12-20 10:23:58 +11:00
Andrew Tridgell b9642b549b AP_GPS: make GPS_MB parameters clearer 
offsets are from the 2nd antenna to the base (primary) antenna
 2022-12-20 10:23:58 +11:00
Peter Barker a874938636 AP_GPS: fix GPS_AUTO example 2022-12-15 21:05:35 +11:00
Andrew Tridgell b12cd48843 AP_GPS: improve support for uBlox-M10 
this sets up the M10 to use the BaiDou B1C signal instead of B1, and
disables glonass. This is needed to get a consistent 5Hz lock
 2022-11-22 19:51:01 +11:00
Peter Barker 6a64b56b0d AP_GPS: fix SIRF defines 
this allows SIRF to be included even on minimised boards if it is requested
 2022-11-09 18:44:40 +11:00
Andrew Tridgell 9ec13be880 AP_GPS: fixed injection of RTCM on 2 different CAN buses 
if we have two CAN GPS on difference can drivers we need to inject to
both
 2022-11-09 09:05:33 +11:00
Andrew Tridgell f84e0c9e8b AP_GPS: disable GPS lag checking in AP_Periph 
it is much more useful to check on the flight controller, not on the
periph, or users just get mysterious failures
 2022-11-08 11:39:20 +11:00
Michael du Breuil 6b0dd7e689 AP_GPS: Fix novatel driver to handle DOP correctly, and fix overly optimistic horizontal accuracy estimate 2022-10-18 10:06:46 +11:00
Andrew Tridgell 6f805cb537 AP_GPS: fixed resolution of KSXT parsing for NMEA 
needs to be double precision for lat/lon
 2022-10-15 17:20:42 +11:00
Andrew Tridgell 4812b67ad6 AP_GPS: added logging to more serial GPS backends 2022-10-15 17:20:42 +11:00
Andrew Tridgell 5cd1aeaf38 AP_GPS: improve GPS debug logging 
use timestamped data allowing for much more precise playback
 2022-10-15 17:20:42 +11:00
jackhong12 4a4f361a17 all: use CLASS_NO_COPY() macro 2022-10-04 11:23:04 +11:00
Peter Barker f225592f48 AP_GPS: use default case for sending blob 
This structure avoids a compiler warning that a statement isn't reachable when all backends are compiled out.
 2022-09-29 20:00:53 +10:00
Peter Barker 288089a158 AP_GPS: no init blobs for SBF/GSOF/NOVA/SITL 2022-09-29 20:00:53 +10:00
Peter Barker 3a3f9bdb84 AP_GPS: cycle through baud rates for SBF/GSOF/NOVA/SITL 2022-09-29 20:00:53 +10:00
Andrew Tridgell fde5c35d35 AP_GPS: removed the old DroneCAN Fix message 
only send/process Fix2 message, saving bus bandwidth and flash space
 2022-09-28 17:27:32 +10:00
Henry Wurzburg d31f6c2f57 AP_GPS: remove incorrect build option on GPS_DRV_OPTIONS param 2022-09-05 12:48:51 +10:00
Andrew Tridgell 8014f96235 AP_GPS: fixed handling of DroneCAN GPS without vertical velocity 
detect first vertical velocity to set flag
 2022-08-23 11:17:06 +10:00
Andrew Tridgell cdf8cad801 AP_GPS: fixed undulation for DroneCAN GPS 2022-08-10 05:04:18 +10:00
Joshua Henderson 378dff5568 AP_GPS: added get_undulation support 2022-08-09 14:37:08 +10:00
Iampete1 51540359e6 AP_GPS: params always use set method 2022-08-03 13:43:48 +01:00
Peter Barker b4bee6a510 AP_GPS: correct compilation when all serial backends compiled out 2022-07-26 10:30:43 +10:00
Peter Barker 96b4945eb9 AP_GPS: move explanation of ublox rates into ublox header 2022-07-26 10:30:43 +10:00
Tamas Nepusz 6ca593a61d AP_GPS: Do not drop reassembly buffer for injected packets when a dupllicate fragment is received 2022-07-22 20:40:21 +10:00
Peter Barker 01751fba60 AP_GPS: move defaulting of AP_GPS_UBLOX_ENABLED to AP_GPS_config 
Addition of this define crossed with another PR which created the config.h file
 2022-07-19 10:14:18 +10:00
Peter Barker 10bc615b57 AP_GPS: add include for GCS_MAVLink.h 
The initialisation of the GPS_Fix enumeration is made from the mavlink headers.

We should probably move away from this, converting from our own enumeration to the mavlink enumeration when required (emitting mavlink packets and receiving in AP_GPS_MAV)
 2022-07-13 18:32:35 +10:00
Iampete1 71b00e0f75 AP_GPS: use config.h pattern and only include log structures if enabled 2022-07-13 18:14:12 +10:00
Peter Barker 00329ae443 AP_GPS: stop reading arbitrary amounts of data in GPS init 
We don't like doing this in other places as the vehicle can go out to
lunch for arbitrary periods of time
 2022-07-13 17:56:38 +10:00
Peter Barker b88f414320 AP_GPS: allow UBLOX driver to be compiled out 2022-07-13 17:56:38 +10:00
Peter Barker e858a0fab7 AP_GPS: factor out a _detect_instance method 
This means we don't need the goto to handle the case of a detected GPS,
and it also allows for restructure remove the "else" statements, which
will allow compilinmg out the uBlox driver
 2022-07-13 17:56:38 +10:00
Peter Barker c2091fdef5 AP_GPS: fix clang++ warnings on static inits 
these are static variables so don't need zeroing anyway...
 2022-06-28 10:20:30 +10:00
Andrew Tridgell 06a9a1521c AP_GPS: added GPS_DRV_OPTIONS bit for ellipsoid height 2022-06-15 17:30:28 +10:00
Andrew Tridgell 509f03f946 AP_GPS: cleanup driver option access 
use option_set() to make code clearer
 2022-06-15 17:30:28 +10:00
Andrew Tridgell 6832eab8a5 AP_GPS: fixed build without logging 2022-06-06 14:50:40 +10:00
Peter Barker 9857954529 AP_GPS: tidy includes 2022-05-03 09:14:58 +10:00
Peter Barker ccca0e8e0f AP_GPS: stop using HAL_BUILD_AP_PERIPH to gate GPS backends 2022-04-13 18:23:51 +10:00
Peter Barker e0a96eaa83 AP_GPS: remove more code based on GPS_MOVING_BASELINE 2022-04-12 11:20:01 +10:00
Peter Barker aa72559d00 AP_GPS: tidy initialisation of sending blobs 2022-04-12 11:20:01 +10:00
Peter Barker 4b6590734a AP_GPS: move gps blob initialisation out to method 2022-04-12 11:20:01 +10:00
Peter Barker c2112565b5 AP_GPS: remove redundant _blend_mask check 
filling in of these values is already gated by checking the mask
 2022-04-06 17:31:42 +10:00
Peter Barker 4332ed8f36 AP_GPS: use sq function for squaring numbers 2022-04-06 17:31:42 +10:00
Iampete1 2589fa1b3b AP_GPS: UBlox: add TIM-TM2 logging 2022-04-06 17:22:30 +10:00
Peter Barker cafad05b38 AP_GPS: rearrange send-text for consistency 2022-03-27 06:21:20 -07:00
Peter Barker 88feb74762 AP_GPS: improve parameter documentation in UAVCAN GPS 2022-03-27 06:21:20 -07:00
BhumilDepani 8fa6432e3a AP_GPS: added comments in GPS_AUTO_test example sketch 
Added comments in libraries/AP_GPS/examples/GPS_AUTO_text/GPS_AUTO_test.cpp file

AP_GPS: added comments to GPS_AUTO_test example sketch

Added comments in libraries/AP_GPS/examples/GPS_AUTO_text/GPS_AUTO_test.cpp file

AP_GPS: added comments to GPS_AUTO_test example sketch

AP_GPS: add comments to GPS_AUTO_text example sketch

AP_GPS: added comments in GPS_AUTO_test example sketch
 2022-03-24 22:07:36 +11:00
bugobliterator 79c45049e0 AP_GPS: only use PPS time when there is atleast 2D Fix 2022-03-23 19:10:47 +11:00
Andrew Tridgell feb9e78f00 AP_GPS: prevent switching to a dead GPS 
when we switch away from the blended GPS instance we need to ensure we
don't switch to a GPS that is timing out, and may be the instance that
is triggering the disable of blending
 2022-03-22 10:10:07 +11:00
Peter Barker a9aa5c2d60 AP_GPS: add a new AP_GPS_SITL object 2022-03-17 14:39:55 +11:00
Peter Barker 8d6e442997 AP_GPS: include cleanups 2022-03-01 11:21:33 +11:00
bugobliterator 3598724378 AP_GPS: change time_epoch_convert to istate_time_to_epoch_ms 2022-02-03 06:45:35 +11:00
bugobliterator 244b8ed358 AP_GPS: change _last_itow to _last_itow_ms 2022-02-03 06:45:35 +11:00
bugobliterator d3d3c826f7 AP_GPS: set _last_itow alongside state.last_corrected_gps_time_us 2022-02-03 06:45:35 +11:00
bugobliterator e77bb74f9b AP_GPS: remove unnecessary multiply with 1000ULL in time_epoch_usec 2022-02-03 06:45:35 +11:00
Peter Barker 60b8277e1b AP_GPS: create and use AP_GPS_BACKEND_DEFAULT_ENABLED 
Allows for all backends to be set to off by default.
 2022-02-01 11:22:02 +11:00
Peter Barker c463036706 AP_GPS: write config blob out as chunk rather than iterating 2022-01-30 13:24:45 +11:00
bugobliterator 46294c0fba AP_GPS: sync pps rate with message rate 2022-01-20 17:26:35 +11:00
bugobliterator 49b767b24e AP_GPS: add support for correcting GPS times while using DroneCAN GPS 2022-01-20 17:26:35 +11:00
bugobliterator 49bf4fa27b AP_GPS: move to using last_corrected_gps_time_us instead of uart_timestamp_us 2022-01-20 17:26:35 +11:00
bugobliterator 9834304525 AP_GPS: make more precise calculation of gps message 
use PPS signal if available as well
 2022-01-20 17:26:35 +11:00
Peter Barker c5f21664db AP_GPS: correct compilation when SIRF disabled 2022-01-14 11:49:01 +11:00
Peter Barker 8d17b8dbe7 AP_GPS: use const structure for saving GPS config 2022-01-12 18:29:01 +11:00
Peter Barker 1943de9016 AP_GPS: tidy configuration of UBLOX rates 2022-01-12 18:29:01 +11:00
Hwurzburg 3d4f6cc2c4 AP_GPS: add build options for GPS backends 2022-01-12 16:17:21 +11:00
Andrew Tridgell 09cd7558c3 AP_GPS: drop default GPS lag to 0.1s 
this impacts UAVCAN GPS modules, which these days usually have at
least u-blox M8
 2022-01-12 07:54:46 +11:00
Andrew Tridgell 135c88d474 AP_GPS: use KSXT for position and alt when available 
this gets velocity and position from the same message for more
consistency
 2022-01-11 10:34:11 +11:00
Andrew Tridgell 9d21c0b6c1 AP_GPS: added GPS data logging system 
for debugging GPS protocols
 2022-01-11 10:34:11 +11:00
Andrew Tridgell 27cec48b82 AP_GPS: support KSXT message for Unicore NMEA 
this gives both yaw and 3D velocity
 2022-01-11 10:34:11 +11:00
Andrew Tridgell 3f160b4910 Revert "AP_GPS: drop default GPS lag to 0.1s" 
This reverts commit 1e60d2557b.
 2022-01-04 19:02:54 +00:00
Andrew Tridgell 1e60d2557b AP_GPS: drop default GPS lag to 0.1s 
this impacts UAVCAN GPS modules, which these days usually have at
least u-blox M8
 2022-01-03 16:39:07 -08:00
Jaaaky 6433547592 AP_GPS: Fix multi #include's 2021-12-21 10:38:46 +11:00
Hwurzburg 35cc90d117 AP_GPS: change UAVCAN in metadata to DroneCAN 2021-12-15 09:53:21 +11:00
Peter Barker 065cb2decb AP_GPS_UBLOX: tidy reading of uart data 
Neither of the return types used for data and numc were actually correct for the values being returned from the uartdriver functions.
 2021-11-09 10:31:25 +11:00
Michael du Breuil f08866639e AP_GPS: Novatel respect the auto config disable parameter 2021-11-09 10:05:26 +11:00
Michael du Breuil eedcb9aded AP_GPS: Isolate the header to be only set once 
Also wrap up some common whitespace issues
 2021-11-09 10:05:26 +11:00
Peter Barker 2dbe15911f AP_GPS: change empty constructors out for 'use AP_GPS_Backend::AP_GPS_Backend' 2021-10-23 15:05:28 +11:00
Peter Barker e88cd8498b AP_GPS: add note about GPS_LEAPSECONDS_MILLIS being copied 2021-10-21 12:09:21 +11:00
bugobliterator ae65f2e6ab AP_GPS: fix build and working with single GPS Receiver config 2021-09-30 21:53:07 +10:00
Peter Barker 068f91169c AP_GPS: remove mtk GPSs 
These are ancient and of very poor quality.
 2021-09-29 17:28:59 +10:00
Peter Barker da66ecf1f2 AP_GPS: move SBP logging structures into AP_GPS 2021-09-28 10:45:51 +10:00
Peter Barker 1ae8385a0f AP_GPS: correct GPS switching when GPS blending disabled 2021-09-28 09:08:50 +10:00
Peter Barker 6d615a3e16 AP_GPS: move from HAL_NO_GCS to HAL_GCS_ENABLED 2021-09-22 21:37:00 +10:00
bugobliterator f3fef657f9 AP_GPS: handle failure to allocation of GPS CAN message subscribers 2021-09-22 21:36:34 +10:00
Josh Henderson 06251335da AP_GPS: use vector.xy().length() instead of norm(x,y) 2021-09-14 10:43:46 +10:00
bugobliterator ddc50a8420 AP_GPS: add option to set a dedicated line for Moving Baseline Data 2021-08-19 14:20:58 +10:00
bugobliterator d32111b376 AP_GPS: fix handling of RTCM3 parser with user notification for bad cfg 2021-08-19 14:20:58 +10:00
bugobliterator 3b58463bfd AP_GPS: initialise uavcan drv interim_state with state structure at startup 2021-08-19 14:20:58 +10:00
bugobliterator 85d8becb8c AP_GPS: add support for auto config Moving Baseline for AP_Periph GPS 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 4f4a0a02f6 AP_GPS: added doc message for bit 2 of DRV_OPTIONS 2021-08-10 10:54:14 +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