mirror of https://github.com/ArduPilot/ardupilot
733 lines
31 KiB
C++
733 lines
31 KiB
C++
/*
|
||
This program is free software: you can redistribute it and/or modify
|
||
it under the terms of the GNU General Public License as published by
|
||
the Free Software Foundation, either version 3 of the License, or
|
||
(at your option) any later version.
|
||
|
||
This program is distributed in the hope that it will be useful,
|
||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||
GNU General Public License for more details.
|
||
|
||
You should have received a copy of the GNU General Public License
|
||
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||
*/
|
||
|
||
//
|
||
// Septentrio GPS driver for ArduPilot.
|
||
// Code by Michael Oborne
|
||
//
|
||
|
||
#include "AP_GPS.h"
|
||
#include "AP_GPS_SBF.h"
|
||
#include <GCS_MAVLink/GCS.h>
|
||
#include <AP_InternalError/AP_InternalError.h>
|
||
#include <stdio.h>
|
||
#include <ctype.h>
|
||
|
||
#if AP_GPS_SBF_ENABLED
|
||
extern const AP_HAL::HAL& hal;
|
||
|
||
#define SBF_DEBUGGING 0
|
||
|
||
#if SBF_DEBUGGING
|
||
# define Debug(fmt, args ...) \
|
||
do { \
|
||
hal.console->printf("%s:%d: " fmt "\n", \
|
||
__FUNCTION__, __LINE__, \
|
||
## args); \
|
||
hal.scheduler->delay(1); \
|
||
} while(0)
|
||
#else
|
||
# define Debug(fmt, args ...)
|
||
#endif
|
||
|
||
#ifndef GPS_SBF_STREAM_NUMBER
|
||
#define GPS_SBF_STREAM_NUMBER 1
|
||
#endif
|
||
|
||
#define SBF_EXCESS_COMMAND_BYTES 5 // 2 start bytes + validity byte + space byte + endline byte
|
||
|
||
#define RX_ERROR_MASK (CONGESTION | \
|
||
MISSEDEVENT | \
|
||
CPUOVERLOAD | \
|
||
INVALIDCONFIG | \
|
||
OUTOFGEOFENCE)
|
||
|
||
constexpr const char *AP_GPS_SBF::portIdentifiers[];
|
||
constexpr const char* AP_GPS_SBF::_initialisation_blob[];
|
||
constexpr const char* AP_GPS_SBF::sbas_on_blob[];
|
||
|
||
AP_GPS_SBF::AP_GPS_SBF(AP_GPS &_gps,
|
||
AP_GPS::Params &_params,
|
||
AP_GPS::GPS_State &_state,
|
||
AP_HAL::UARTDriver *_port) :
|
||
AP_GPS_Backend(_gps, _params, _state, _port)
|
||
{
|
||
sbf_msg.sbf_state = sbf_msg_parser_t::PREAMBLE1;
|
||
|
||
_config_last_ack_time = AP_HAL::millis();
|
||
|
||
// if we ever parse RTK observations it will always be of type NED, so set it once
|
||
state.rtk_baseline_coords_type = RTK_BASELINE_COORDINATE_SYSTEM_NED;
|
||
|
||
// yaw available when option bit set or using dual antenna
|
||
if (option_set(AP_GPS::DriverOptions::SBF_UseBaseForYaw) ||
|
||
(get_type() == AP_GPS::GPS_Type::GPS_TYPE_SBF_DUAL_ANTENNA)) {
|
||
state.gps_yaw_configured = true;
|
||
}
|
||
}
|
||
|
||
AP_GPS_SBF::~AP_GPS_SBF (void) {
|
||
free(config_string);
|
||
}
|
||
|
||
// Process all bytes available from the stream
|
||
//
|
||
bool
|
||
AP_GPS_SBF::read(void)
|
||
{
|
||
bool ret = false;
|
||
uint32_t available_bytes = port->available();
|
||
for (uint32_t i = 0; i < available_bytes; i++) {
|
||
uint8_t temp = port->read();
|
||
#if AP_GPS_DEBUG_LOGGING_ENABLED
|
||
log_data(&temp, 1);
|
||
#endif
|
||
ret |= parse(temp);
|
||
}
|
||
|
||
const uint32_t now = AP_HAL::millis();
|
||
if (gps._auto_config != AP_GPS::GPS_AUTO_CONFIG_DISABLE) {
|
||
if (config_step != Config_State::Complete) {
|
||
if (now > _init_blob_time) {
|
||
if (now > _config_last_ack_time + 2000) {
|
||
const size_t port_enable_len = strlen(_port_enable);
|
||
if (port_enable_len <= port->txspace()) {
|
||
// try to enable input on the GPS port if we have not made progress on configuring it
|
||
Debug("SBF Sending port enable");
|
||
port->write((const uint8_t*)_port_enable, port_enable_len);
|
||
_config_last_ack_time = now;
|
||
}
|
||
} else if (readyForCommand) {
|
||
if (config_string == nullptr) {
|
||
switch (config_step) {
|
||
case Config_State::Baud_Rate:
|
||
if (asprintf(&config_string, "scs,COM%d,baud%d,bits8,No,bit1,%s\n",
|
||
(int)params.com_port,
|
||
230400,
|
||
port->get_flow_control() != AP_HAL::UARTDriver::flow_control::FLOW_CONTROL_ENABLE ? "none" : "RTS|CTS") == -1) {
|
||
config_string = nullptr;
|
||
}
|
||
break;
|
||
case Config_State::SSO:
|
||
const char *extra_config;
|
||
switch (get_type()) {
|
||
case AP_GPS::GPS_Type::GPS_TYPE_SBF_DUAL_ANTENNA:
|
||
extra_config = "+AttCovEuler+AuxAntPositions";
|
||
break;
|
||
case AP_GPS::GPS_Type::GPS_TYPE_SBF:
|
||
default:
|
||
extra_config = "";
|
||
break;
|
||
}
|
||
if (asprintf(&config_string, "sso,Stream%d,COM%d,PVTGeodetic+DOP+ReceiverStatus+VelCovGeodetic+BaseVectorGeod%s,msec100\n",
|
||
(int)GPS_SBF_STREAM_NUMBER,
|
||
(int)params.com_port,
|
||
extra_config) == -1) {
|
||
config_string = nullptr;
|
||
}
|
||
break;
|
||
case Config_State::Constellation:
|
||
if ((params.gnss_mode&0x6F)!=0) {
|
||
//IMES not taken into account by Septentrio receivers
|
||
if (asprintf(&config_string, "sst, %s%s%s%s%s%s\n", (params.gnss_mode&(1U<<0))!=0 ? "GPS" : "",
|
||
(params.gnss_mode&(1U<<1))!=0 ? ((params.gnss_mode&0x01)==0 ? "SBAS" : "+SBAS") : "",
|
||
(params.gnss_mode&(1U<<2))!=0 ? ((params.gnss_mode&0x03)==0 ? "GALILEO" : "+GALILEO") : "",
|
||
(params.gnss_mode&(1U<<3))!=0 ? ((params.gnss_mode&0x07)==0 ? "BEIDOU" : "+BEIDOU") : "",
|
||
(params.gnss_mode&(1U<<5))!=0 ? ((params.gnss_mode&0x0F)==0 ? "QZSS" : "+QZSS") : "",
|
||
(params.gnss_mode&(1U<<6))!=0 ? ((params.gnss_mode&0x2F)==0 ? "GLONASS" : "+GLONASS") : "") == -1) {
|
||
config_string=nullptr;
|
||
}
|
||
}
|
||
break;
|
||
case Config_State::Blob:
|
||
if (asprintf(&config_string, "%s\n", _initialisation_blob[_init_blob_index]) == -1) {
|
||
config_string = nullptr;
|
||
}
|
||
break;
|
||
case Config_State::SBAS:
|
||
switch ((AP_GPS::SBAS_Mode)gps._sbas_mode) {
|
||
case AP_GPS::SBAS_Mode::Disabled:
|
||
if (asprintf(&config_string, "%s\n", sbas_off) == -1) {
|
||
config_string = nullptr;
|
||
}
|
||
break;
|
||
case AP_GPS::SBAS_Mode::Enabled:
|
||
if (asprintf(&config_string, "%s\n", sbas_on_blob[_init_blob_index]) == -1) {
|
||
config_string = nullptr;
|
||
}
|
||
break;
|
||
case AP_GPS::SBAS_Mode::DoNotChange:
|
||
config_string = nullptr;
|
||
config_step = Config_State::Complete;
|
||
break;
|
||
}
|
||
break;
|
||
case Config_State::SGA:
|
||
{
|
||
const char *targetGA = "none";
|
||
if (get_type() == AP_GPS::GPS_Type::GPS_TYPE_SBF_DUAL_ANTENNA) {
|
||
targetGA = "MultiAntenna";
|
||
}
|
||
if (asprintf(&config_string, "sga, %s\n", targetGA)) {
|
||
config_string = nullptr;
|
||
}
|
||
break;
|
||
}
|
||
case Config_State::Complete:
|
||
// should never reach here, why search for a config if we have fully configured already
|
||
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
|
||
break;
|
||
}
|
||
}
|
||
|
||
if (config_string != nullptr) {
|
||
const size_t config_length = strlen(config_string);
|
||
if (config_length <= port->txspace()) {
|
||
Debug("SBF sending init string: %s", config_string);
|
||
port->write((const uint8_t*)config_string, config_length);
|
||
readyForCommand = false;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
} else if (gps._raw_data == 2) { // only manage disarm/rearms when the user opts into it
|
||
if (hal.util->get_soft_armed()) {
|
||
_has_been_armed = true;
|
||
} else if (_has_been_armed && (RxState & SBF_DISK_MOUNTED)) {
|
||
// since init is done at this point and unmounting should be rate limited,
|
||
// take over the _init_blob_time variable
|
||
if (now > _init_blob_time) {
|
||
unmount_disk();
|
||
_init_blob_time = now + 1000;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
// yaw timeout after 300 milliseconds
|
||
if ((now - state.gps_yaw_time_ms) > 300) {
|
||
state.have_gps_yaw = false;
|
||
state.have_gps_yaw_accuracy = false;
|
||
}
|
||
|
||
return ret;
|
||
}
|
||
|
||
bool AP_GPS_SBF::logging_healthy(void) const
|
||
{
|
||
switch (gps._raw_data) {
|
||
case 1:
|
||
default:
|
||
return (RxState & SBF_DISK_MOUNTED) && (RxState & SBF_DISK_ACTIVITY);
|
||
case 2:
|
||
return ((RxState & SBF_DISK_MOUNTED) && (RxState & SBF_DISK_ACTIVITY)) || (!hal.util->get_soft_armed() && _has_been_armed);
|
||
}
|
||
}
|
||
|
||
bool
|
||
AP_GPS_SBF::parse(uint8_t temp)
|
||
{
|
||
switch (sbf_msg.sbf_state)
|
||
{
|
||
default:
|
||
case sbf_msg_parser_t::PREAMBLE1:
|
||
if (temp == SBF_PREAMBLE1) {
|
||
sbf_msg.sbf_state = sbf_msg_parser_t::PREAMBLE2;
|
||
sbf_msg.read = 0;
|
||
} else {
|
||
// attempt to detect command prompt
|
||
portIdentifier[portLength++] = (char)temp;
|
||
bool foundPossiblePort = false;
|
||
for (const char *portId : portIdentifiers) {
|
||
if (strncmp(portId, portIdentifier, MIN(portLength, 3)) == 0) {
|
||
// we found one of the COM/USB/IP related ports
|
||
if (portLength == 4) {
|
||
// validate that we have an ascii number
|
||
if (isdigit((char)temp)) {
|
||
foundPossiblePort = true;
|
||
break;
|
||
}
|
||
} else if (portLength >= sizeof(portIdentifier)) {
|
||
if ((char)temp == '>') {
|
||
readyForCommand = true;
|
||
Debug("SBF: Ready for command");
|
||
}
|
||
} else {
|
||
foundPossiblePort = true;
|
||
}
|
||
break;
|
||
}
|
||
}
|
||
if (!foundPossiblePort) {
|
||
portLength = 0;
|
||
}
|
||
}
|
||
break;
|
||
case sbf_msg_parser_t::PREAMBLE2:
|
||
if (temp == SBF_PREAMBLE2) {
|
||
sbf_msg.sbf_state = sbf_msg_parser_t::CRC1;
|
||
} else if (temp == 'R') {
|
||
Debug("SBF got a response\n");
|
||
sbf_msg.sbf_state = sbf_msg_parser_t::COMMAND_LINE;
|
||
}
|
||
else
|
||
{
|
||
sbf_msg.sbf_state = sbf_msg_parser_t::PREAMBLE1;
|
||
}
|
||
break;
|
||
case sbf_msg_parser_t::CRC1:
|
||
sbf_msg.crc = temp;
|
||
sbf_msg.sbf_state = sbf_msg_parser_t::CRC2;
|
||
break;
|
||
case sbf_msg_parser_t::CRC2:
|
||
sbf_msg.crc += (uint16_t)(temp << 8);
|
||
sbf_msg.sbf_state = sbf_msg_parser_t::BLOCKID1;
|
||
break;
|
||
case sbf_msg_parser_t::BLOCKID1:
|
||
sbf_msg.blockid = temp;
|
||
sbf_msg.sbf_state = sbf_msg_parser_t::BLOCKID2;
|
||
break;
|
||
case sbf_msg_parser_t::BLOCKID2:
|
||
sbf_msg.blockid += (uint16_t)(temp << 8);
|
||
sbf_msg.sbf_state = sbf_msg_parser_t::LENGTH1;
|
||
break;
|
||
case sbf_msg_parser_t::LENGTH1:
|
||
sbf_msg.length = temp;
|
||
sbf_msg.sbf_state = sbf_msg_parser_t::LENGTH2;
|
||
break;
|
||
case sbf_msg_parser_t::LENGTH2:
|
||
sbf_msg.length += (uint16_t)(temp << 8);
|
||
sbf_msg.sbf_state = sbf_msg_parser_t::DATA;
|
||
if (sbf_msg.length % 4 != 0) {
|
||
sbf_msg.sbf_state = sbf_msg_parser_t::PREAMBLE1;
|
||
Debug("bad packet length=%u\n", (unsigned)sbf_msg.length);
|
||
}
|
||
if (sbf_msg.length < 8) {
|
||
Debug("bad packet length=%u\n", (unsigned)sbf_msg.length);
|
||
sbf_msg.sbf_state = sbf_msg_parser_t::PREAMBLE1;
|
||
crc_error_counter++; // this is a probable buffer overflow, but this
|
||
// indicates not enough bytes to do a crc
|
||
break;
|
||
}
|
||
break;
|
||
case sbf_msg_parser_t::DATA:
|
||
if (sbf_msg.read < sizeof(sbf_msg.data)) {
|
||
sbf_msg.data.bytes[sbf_msg.read] = temp;
|
||
}
|
||
sbf_msg.read++;
|
||
if (sbf_msg.read >= (sbf_msg.length - 8)) {
|
||
if (sbf_msg.read > sizeof(sbf_msg.data)) {
|
||
// not interested in these large messages
|
||
sbf_msg.sbf_state = sbf_msg_parser_t::PREAMBLE1;
|
||
break;
|
||
}
|
||
uint16_t crc = crc16_ccitt((uint8_t*)&sbf_msg.blockid, 2, 0);
|
||
crc = crc16_ccitt((uint8_t*)&sbf_msg.length, 2, crc);
|
||
crc = crc16_ccitt((uint8_t*)&sbf_msg.data, sbf_msg.length - 8, crc);
|
||
|
||
sbf_msg.sbf_state = sbf_msg_parser_t::PREAMBLE1;
|
||
|
||
if (sbf_msg.crc == crc) {
|
||
return process_message();
|
||
} else {
|
||
Debug("crc fail\n");
|
||
crc_error_counter++;
|
||
}
|
||
}
|
||
break;
|
||
case sbf_msg_parser_t::COMMAND_LINE:
|
||
if (sbf_msg.read < (sizeof(sbf_msg.data) - 1)) {
|
||
sbf_msg.data.bytes[sbf_msg.read] = temp;
|
||
} else {
|
||
// we don't have enough buffer to compare the commands
|
||
// most probable cause is that a user injected a longer command then
|
||
// we have buffer for, or it could be a corruption, either way we
|
||
// simply ignore the result
|
||
sbf_msg.sbf_state = sbf_msg_parser_t::PREAMBLE1;
|
||
break;
|
||
}
|
||
sbf_msg.read++;
|
||
if (temp == '\n') {
|
||
sbf_msg.data.bytes[sbf_msg.read] = 0;
|
||
|
||
// received the result, lets assess it
|
||
if (sbf_msg.data.bytes[0] == ':') {
|
||
// valid command, determine if it was the one we were trying
|
||
// to send in the configuration sequence
|
||
if (config_string != nullptr) {
|
||
if (!strncmp(config_string, (char *)(sbf_msg.data.bytes + 2),
|
||
sbf_msg.read - SBF_EXCESS_COMMAND_BYTES)) {
|
||
Debug("SBF Ack Command: %s\n", sbf_msg.data.bytes);
|
||
free(config_string);
|
||
config_string = nullptr;
|
||
switch (config_step) {
|
||
case Config_State::Baud_Rate:
|
||
config_step = Config_State::SSO;
|
||
break;
|
||
case Config_State::SSO:
|
||
config_step = Config_State::Constellation;
|
||
break;
|
||
case Config_State::Constellation:
|
||
config_step = Config_State::Blob;
|
||
break;
|
||
case Config_State::Blob:
|
||
_init_blob_index++;
|
||
if (_init_blob_index >= ARRAY_SIZE(_initialisation_blob)) {
|
||
config_step = Config_State::SBAS;
|
||
_init_blob_index = 0;
|
||
}
|
||
break;
|
||
case Config_State::SBAS:
|
||
_init_blob_index++;
|
||
if ((gps._sbas_mode == AP_GPS::SBAS_Mode::Disabled)
|
||
||_init_blob_index >= ARRAY_SIZE(sbas_on_blob)) {
|
||
config_step = Config_State::SGA;
|
||
}
|
||
break;
|
||
case Config_State::SGA:
|
||
config_step = Config_State::Complete;
|
||
break;
|
||
case Config_State::Complete:
|
||
// should never reach here, this implies that we validated a config string when we hadn't sent any
|
||
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
|
||
break;
|
||
}
|
||
_config_last_ack_time = AP_HAL::millis();
|
||
} else {
|
||
Debug("SBF Ack command (unexpected): %s\n", sbf_msg.data.bytes);
|
||
}
|
||
}
|
||
} else {
|
||
// rejected command, send it out as a debug
|
||
Debug("SBF NACK Command: %s\n", sbf_msg.data.bytes);
|
||
}
|
||
// resume normal parsing
|
||
sbf_msg.sbf_state = sbf_msg_parser_t::PREAMBLE1;
|
||
break;
|
||
}
|
||
break;
|
||
}
|
||
|
||
return false;
|
||
}
|
||
|
||
static bool is_DNU(double value)
|
||
{
|
||
constexpr double DNU = -2e-10f;
|
||
#pragma GCC diagnostic push
|
||
#pragma GCC diagnostic ignored "-Wfloat-equal" // suppress -Wfloat-equal as it's false positive when testing for DNU values
|
||
return value != DNU;
|
||
#pragma GCC diagnostic pop
|
||
}
|
||
|
||
bool
|
||
AP_GPS_SBF::process_message(void)
|
||
{
|
||
uint16_t blockid = (sbf_msg.blockid & 8191u);
|
||
|
||
Debug("BlockID %d", blockid);
|
||
|
||
switch (blockid) {
|
||
case PVTGeodetic:
|
||
{
|
||
const msg4007 &temp = sbf_msg.data.msg4007u;
|
||
|
||
// Update time state
|
||
if (temp.WNc != 65535) {
|
||
state.time_week = temp.WNc;
|
||
state.time_week_ms = (uint32_t)(temp.TOW);
|
||
}
|
||
|
||
check_new_itow(temp.TOW, sbf_msg.length);
|
||
state.last_gps_time_ms = AP_HAL::millis();
|
||
|
||
// Update velocity state (don't use −2·10^10)
|
||
if (temp.Vn > -200000) {
|
||
state.velocity.x = (float)(temp.Vn);
|
||
state.velocity.y = (float)(temp.Ve);
|
||
state.velocity.z = (float)(-temp.Vu);
|
||
|
||
state.have_vertical_velocity = true;
|
||
|
||
velocity_to_speed_course(state);
|
||
state.rtk_age_ms = temp.MeanCorrAge * 10;
|
||
|
||
// value is expressed as twice the rms error = int16 * 0.01/2
|
||
state.horizontal_accuracy = (float)temp.HAccuracy * 0.005f;
|
||
state.vertical_accuracy = (float)temp.VAccuracy * 0.005f;
|
||
state.have_horizontal_accuracy = true;
|
||
state.have_vertical_accuracy = true;
|
||
}
|
||
|
||
// Update position state (don't use -2·10^10)
|
||
if (temp.Latitude > -200000) {
|
||
state.location.lat = (int32_t)(temp.Latitude * RAD_TO_DEG_DOUBLE * (double)1e7);
|
||
state.location.lng = (int32_t)(temp.Longitude * RAD_TO_DEG_DOUBLE * (double)1e7);
|
||
state.have_undulation = !is_DNU(temp.Undulation);
|
||
double height = temp.Height; // in metres
|
||
if (state.have_undulation) {
|
||
height -= temp.Undulation;
|
||
state.undulation = -temp.Undulation;
|
||
}
|
||
set_alt_amsl_cm(state, (float)height * 1e2f); // m -> cm
|
||
}
|
||
|
||
state.num_sats = temp.NrSV;
|
||
if (temp.NrSV == 255) {
|
||
// Do-Not-Use value for NrSV field in PVTGeodetic message
|
||
state.num_sats = 0;
|
||
}
|
||
|
||
Debug("temp.Mode=0x%02x\n", (unsigned)temp.Mode);
|
||
switch (temp.Mode & 15) {
|
||
case 0: // no pvt
|
||
state.status = AP_GPS::NO_FIX;
|
||
break;
|
||
case 1: // standalone
|
||
state.status = AP_GPS::GPS_OK_FIX_3D;
|
||
break;
|
||
case 2: // dgps
|
||
state.status = AP_GPS::GPS_OK_FIX_3D_DGPS;
|
||
break;
|
||
case 3: // fixed location
|
||
state.status = AP_GPS::GPS_OK_FIX_3D;
|
||
break;
|
||
case 4: // rtk fixed
|
||
state.status = AP_GPS::GPS_OK_FIX_3D_RTK_FIXED;
|
||
break;
|
||
case 5: // rtk float
|
||
state.status = AP_GPS::GPS_OK_FIX_3D_RTK_FLOAT;
|
||
break;
|
||
case 6: // sbas
|
||
state.status = AP_GPS::GPS_OK_FIX_3D_DGPS;
|
||
break;
|
||
case 7: // moving rtk fixed
|
||
state.status = AP_GPS::GPS_OK_FIX_3D_RTK_FIXED;
|
||
break;
|
||
case 8: // moving rtk float
|
||
state.status = AP_GPS::GPS_OK_FIX_3D_RTK_FLOAT;
|
||
break;
|
||
}
|
||
|
||
if ((temp.Mode & 64) > 0) { // gps is in base mode
|
||
state.status = AP_GPS::NO_FIX;
|
||
} else if ((temp.Mode & 128) > 0) { // gps only has 2d fix
|
||
state.status = AP_GPS::GPS_OK_FIX_2D;
|
||
}
|
||
|
||
return true;
|
||
}
|
||
case DOP:
|
||
{
|
||
const msg4001 &temp = sbf_msg.data.msg4001u;
|
||
check_new_itow(temp.TOW, sbf_msg.length);
|
||
|
||
state.hdop = temp.HDOP;
|
||
state.vdop = temp.VDOP;
|
||
break;
|
||
}
|
||
case ReceiverStatus:
|
||
{
|
||
const msg4014 &temp = sbf_msg.data.msg4014u;
|
||
check_new_itow(temp.TOW, sbf_msg.length);
|
||
RxState = temp.RxState;
|
||
if ((RxError & RX_ERROR_MASK) != (temp.RxError & RX_ERROR_MASK)) {
|
||
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GPS %u: SBF error changed (0x%08x/0x%08x)", (unsigned int)(state.instance + 1),
|
||
(unsigned int)(RxError & RX_ERROR_MASK), (unsigned int)(temp.RxError & RX_ERROR_MASK));
|
||
}
|
||
RxError = temp.RxError;
|
||
break;
|
||
}
|
||
case VelCovGeodetic:
|
||
{
|
||
const msg5908 &temp = sbf_msg.data.msg5908u;
|
||
|
||
check_new_itow(temp.TOW, sbf_msg.length);
|
||
// select the maximum variance, as the EKF will apply it to all the columns in it's estimate
|
||
// FIXME: Support returning the covariance matrix to the EKF
|
||
float max_variance_squared = MAX(temp.Cov_VnVn, MAX(temp.Cov_VeVe, temp.Cov_VuVu));
|
||
if (is_positive(max_variance_squared)) {
|
||
state.have_speed_accuracy = true;
|
||
state.speed_accuracy = sqrt(max_variance_squared);
|
||
} else {
|
||
state.have_speed_accuracy = false;
|
||
}
|
||
break;
|
||
}
|
||
case AttEulerCov:
|
||
{
|
||
// yaw accuracy is taken from this message even though we actually calculate the yaw ourself (see AuxAntPositions below)
|
||
// this is OK based on the assumption that the calculation methods are similar and that inaccuracy arises from the sensor readings
|
||
if (get_type() == AP_GPS::GPS_Type::GPS_TYPE_SBF_DUAL_ANTENNA) {
|
||
const msg5939 &temp = sbf_msg.data.msg5939u;
|
||
|
||
check_new_itow(temp.TOW, sbf_msg.length);
|
||
|
||
constexpr double floatDNU = -2e-10f;
|
||
constexpr uint8_t errorBits = 0x8F; // Bits 0-1 are aux 1 baseline
|
||
// Bits 2-3 are aux 2 baseline
|
||
// Bit 7 is attitude not requested
|
||
#pragma GCC diagnostic push
|
||
#pragma GCC diagnostic ignored "-Wfloat-equal" // suppress -Wfloat-equal as it's false positive when testing for DNU values
|
||
if (((temp.Error & errorBits) == 0)
|
||
&& (temp.Cov_HeadHead != floatDNU)) {
|
||
#pragma GCC diagnostic pop
|
||
state.gps_yaw_accuracy = sqrtf(temp.Cov_HeadHead);
|
||
state.have_gps_yaw_accuracy = true;
|
||
} else {
|
||
state.gps_yaw_accuracy = false;
|
||
}
|
||
}
|
||
break;
|
||
}
|
||
case AuxAntPositions:
|
||
{
|
||
#if GPS_MOVING_BASELINE
|
||
if (get_type() == AP_GPS::GPS_Type::GPS_TYPE_SBF_DUAL_ANTENNA) {
|
||
// calculate yaw using reported antenna positions in earth-frame
|
||
// note that this calculation does not correct for the vehicle's roll and pitch meaning it is inaccurate at very high lean angles
|
||
const msg5942 &temp = sbf_msg.data.msg5942u;
|
||
check_new_itow(temp.TOW, sbf_msg.length);
|
||
if (temp.N > 0 && temp.ant1.Error == 0 && temp.ant1.AmbiguityType == 0) {
|
||
// valid RTK integer fix
|
||
const float rel_heading_deg = degrees(atan2f(temp.ant1.DeltaEast, temp.ant1.DeltaNorth));
|
||
calculate_moving_base_yaw(rel_heading_deg,
|
||
Vector3f(temp.ant1.DeltaNorth, temp.ant1.DeltaEast, temp.ant1.DeltaUp).length(),
|
||
-temp.ant1.DeltaUp);
|
||
}
|
||
}
|
||
#endif
|
||
break;
|
||
}
|
||
case BaseVectorGeod:
|
||
{
|
||
#pragma GCC diagnostic push
|
||
#pragma GCC diagnostic ignored "-Wfloat-equal" // suppress -Wfloat-equal as it's false positive when testing for DNU values
|
||
const msg4028 &temp = sbf_msg.data.msg4028u;
|
||
|
||
// just breakout any consts we need for Do Not Use (DNU) reasons
|
||
constexpr double doubleDNU = -2e-10;
|
||
constexpr uint16_t uint16DNU = 65535;
|
||
|
||
check_new_itow(temp.TOW, sbf_msg.length);
|
||
|
||
if (temp.N == 0) { // no sub blocks so just bail, we can't do anything useful here
|
||
state.rtk_num_sats = 0;
|
||
state.rtk_age_ms = 0;
|
||
state.rtk_baseline_y_mm = 0;
|
||
state.rtk_baseline_x_mm = 0;
|
||
state.rtk_baseline_z_mm = 0;
|
||
break;
|
||
}
|
||
|
||
state.rtk_num_sats = temp.info.NrSV;
|
||
|
||
state.rtk_age_ms = (temp.info.CorrAge != 65535) ? ((uint32_t)temp.info.CorrAge) * 10 : 0;
|
||
|
||
// copy the position as long as the data isn't DNU, we require NED, and heading before accepting any of it
|
||
if ((temp.info.DeltaEast != doubleDNU) && (temp.info.DeltaNorth != doubleDNU) && (temp.info.DeltaUp != doubleDNU) &&
|
||
(temp.info.Azimuth != uint16DNU)) {
|
||
|
||
state.rtk_baseline_y_mm = temp.info.DeltaEast * 1e3;
|
||
state.rtk_baseline_x_mm = temp.info.DeltaNorth * 1e3;
|
||
state.rtk_baseline_z_mm = temp.info.DeltaUp * -1e3;
|
||
|
||
#if GPS_MOVING_BASELINE
|
||
// copy the baseline data as a yaw source
|
||
if (option_set(AP_GPS::DriverOptions::SBF_UseBaseForYaw)) {
|
||
calculate_moving_base_yaw(temp.info.Azimuth * 0.01f + 180.0f,
|
||
Vector3f(temp.info.DeltaNorth, temp.info.DeltaEast, temp.info.DeltaUp).length(),
|
||
-temp.info.DeltaUp);
|
||
}
|
||
#endif // GPS_MOVING_BASELINE
|
||
|
||
} else if (option_set(AP_GPS::DriverOptions::SBF_UseBaseForYaw)) {
|
||
state.rtk_baseline_y_mm = 0;
|
||
state.rtk_baseline_x_mm = 0;
|
||
state.rtk_baseline_z_mm = 0;
|
||
state.have_gps_yaw = false;
|
||
}
|
||
|
||
#pragma GCC diagnostic pop
|
||
break;
|
||
}
|
||
}
|
||
|
||
return false;
|
||
}
|
||
|
||
void AP_GPS_SBF::broadcast_configuration_failure_reason(void) const
|
||
{
|
||
if (gps._auto_config != AP_GPS::GPS_AUTO_CONFIG_DISABLE &&
|
||
config_step != Config_State::Complete) {
|
||
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GPS %u: SBF is not fully configured (%u/%u/%u/%u)",
|
||
state.instance + 1,
|
||
(unsigned)config_step,
|
||
_init_blob_index,
|
||
(unsigned)ARRAY_SIZE(_initialisation_blob),
|
||
(unsigned)ARRAY_SIZE(sbas_on_blob));
|
||
}
|
||
}
|
||
|
||
bool AP_GPS_SBF::is_configured (void) const {
|
||
return ((gps._auto_config == AP_GPS::GPS_AUTO_CONFIG_DISABLE) ||
|
||
(config_step == Config_State::Complete) ||AP_SIM_GPS_SBF_ENABLED);
|
||
}
|
||
|
||
bool AP_GPS_SBF::is_healthy (void) const {
|
||
return (RxError & RX_ERROR_MASK) == 0;
|
||
}
|
||
|
||
void AP_GPS_SBF::mount_disk (void) const {
|
||
const char* command = "emd, DSK1, Mount\n";
|
||
Debug("Mounting disk");
|
||
port->write((const uint8_t*)command, strlen(command));
|
||
}
|
||
|
||
void AP_GPS_SBF::unmount_disk (void) const {
|
||
const char* command = "emd, DSK1, Unmount\n";
|
||
GCS_SEND_TEXT(MAV_SEVERITY_DEBUG, "SBF unmounting disk");
|
||
port->write((const uint8_t*)command, strlen(command));
|
||
}
|
||
|
||
bool AP_GPS_SBF::prepare_for_arming(void) {
|
||
bool is_logging = true; // assume that its logging until proven otherwise
|
||
if (gps._raw_data) {
|
||
if (!(RxState & SBF_DISK_MOUNTED)){
|
||
is_logging = false;
|
||
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GPS %d: SBF disk is not mounted", state.instance + 1);
|
||
|
||
// simply attempt to mount the disk, no need to check if the command was
|
||
// ACK/NACK'd as we don't continuously attempt to remount the disk
|
||
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GPS %d: Attempting to mount disk", state.instance + 1);
|
||
mount_disk();
|
||
// reset the flag to indicate if we should be logging
|
||
_has_been_armed = false;
|
||
}
|
||
else if (RxState & SBF_DISK_FULL) {
|
||
is_logging = false;
|
||
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GPS %d: SBF disk is full", state.instance + 1);
|
||
}
|
||
else if (!(RxState & SBF_DISK_ACTIVITY)) {
|
||
is_logging = false;
|
||
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GPS %d: SBF is not currently logging", state.instance + 1);
|
||
}
|
||
}
|
||
|
||
return is_logging;
|
||
}
|
||
|
||
#endif
|