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