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ardupilot/libraries/AP_GPS/AP_GPS_UBLOX.cpp

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/*
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/>.
*/
//
// u-blox GPS driver for ArduPilot
// Origin code by Michael Smith, Jordi Munoz and Jose Julio, DIYDrones.com
// Substantially rewritten for new GPS driver structure by Andrew Tridgell
//
#include "AP_GPS.h"
#include "AP_GPS_UBLOX.h"
#include <AP_HAL/Util.h>
#include <AP_Logger/AP_Logger.h>
#include <GCS_MAVLink/GCS.h>
#include "RTCM3_Parser.h"
#include <stdio.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
#define UBLOX_SPEED_CHANGE 1
#else
#define UBLOX_SPEED_CHANGE 0
#endif
#define UBLOX_DEBUGGING 0
#define UBLOX_FAKE_3DLOCK 0
#define CONFIGURE_PPS_PIN 0
// select if we will do moving baseline with RTCM between UART2 on
// each receiver (directly between receivers) or via UART1 and the
// flight controller. Going via the flight controller takes more CPU
// and memory, but is more convenient for wiring
#define RTK_MB_UART2 0
// this is number of epochs per output. A higher value will reduce
// the uart bandwidth needed and allow for higher latency
#define RTK_MB_RTCM_RATE 1
// use this to enable debugging of moving baseline configs
#define UBLOX_MB_DEBUGGING 0
extern const AP_HAL::HAL& hal;
#ifdef HAL_NO_GCS
#define GCS_SEND_TEXT(severity, format, args...)
#else
#define GCS_SEND_TEXT(severity, format, args...) gcs().send_text(severity, format, ##args)
#endif
#if UBLOX_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
#if UBLOX_MB_DEBUGGING
# define MB_Debug(fmt, args ...) do {hal.console->printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); hal.scheduler->delay(1); } while(0)
#else
# define MB_Debug(fmt, args ...)
#endif
AP_GPS_UBLOX::AP_GPS_UBLOX(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port, AP_GPS::GPS_Role _role) :
AP_GPS_Backend(_gps, _state, _port),
_next_message(STEP_PVT),
_ublox_port(255),
_unconfigured_messages(CONFIG_ALL),
_hardware_generation(UBLOX_UNKNOWN_HARDWARE_GENERATION),
next_fix(AP_GPS::NO_FIX),
noReceivedHdop(true),
role(_role)
{
// stop any config strings that are pending
gps.send_blob_start(state.instance, nullptr, 0);
// start the process of updating the GPS rates
_request_next_config();
#if CONFIGURE_PPS_PIN
_unconfigured_messages |= CONFIG_TP5;
#endif
if (role == AP_GPS::GPS_ROLE_MB_BASE) {
rtcm3_parser = new RTCM3_Parser;
if (rtcm3_parser == nullptr) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "u-blox %d: failed RTCMv3 parser allocation", state.instance + 1);
}
_unconfigured_messages |= CONFIG_RTK_MOVBASE;
}
if (role == AP_GPS::GPS_ROLE_MB_ROVER) {
_unconfigured_messages |= CONFIG_RTK_MOVBASE;
state.gps_yaw_configured = true;
}
}
AP_GPS_UBLOX::~AP_GPS_UBLOX()
{
if (rtcm3_parser) {
delete rtcm3_parser;
}
}
/*
config for F9 GPS in moving baseline base role
See ZED-F9P integration manual section 3.1.5.6.1
*/
const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_MB_Base[] {
#if RTK_MB_UART2 // RTCM3 on UART2
{ ConfigKey::CFG_UART2_ENABLED, 1},
{ ConfigKey::CFG_UART2_BAUDRATE, 460800},
{ ConfigKey::CFG_UART2OUTPROT_RTCM3X, 1},
{ ConfigKey::CFG_UART2OUTPROT_UBX, 0},
{ ConfigKey::CFG_UART2OUTPROT_NMEA, 0},
{ ConfigKey::CFG_UART1OUTPROT_RTCM3X, 0},
{ ConfigKey::CFG_UART1INPROT_RTCM3X, 1},
{ ConfigKey::MSGOUT_UBX_NAV_RELPOSNED_UART2, 0},
{ ConfigKey::MSGOUT_UBX_NAV_RELPOSNED_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE4072_0_UART2, RTK_MB_RTCM_RATE},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE4072_1_UART2, RTK_MB_RTCM_RATE},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1077_UART2, RTK_MB_RTCM_RATE},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1087_UART2, RTK_MB_RTCM_RATE},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1097_UART2, RTK_MB_RTCM_RATE},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1127_UART2, RTK_MB_RTCM_RATE},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1230_UART2, RTK_MB_RTCM_RATE},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE4072_0_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE4072_1_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1077_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1087_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1097_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1127_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1230_UART1, 0},
#else // RTCM3 on UART1
{ ConfigKey::CFG_UART2_ENABLED, 0},
{ ConfigKey::CFG_UART1OUTPROT_RTCM3X, 1},
{ ConfigKey::CFG_UART2OUTPROT_RTCM3X, 0},
{ ConfigKey::CFG_UART2OUTPROT_UBX, 0},
{ ConfigKey::CFG_UART2OUTPROT_NMEA, 0},
{ ConfigKey::MSGOUT_UBX_NAV_RELPOSNED_UART1, 0},
{ ConfigKey::MSGOUT_UBX_NAV_RELPOSNED_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE4072_0_UART1, RTK_MB_RTCM_RATE},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE4072_1_UART1, RTK_MB_RTCM_RATE},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1077_UART1, RTK_MB_RTCM_RATE},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1087_UART1, RTK_MB_RTCM_RATE},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1097_UART1, RTK_MB_RTCM_RATE},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1127_UART1, RTK_MB_RTCM_RATE},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1230_UART1, RTK_MB_RTCM_RATE},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE4072_0_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE4072_1_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1077_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1087_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1097_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1127_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1230_UART2, 0},
#endif
};
/*
config for F9 GPS in moving baseline rover role
See ZED-F9P integration manual section 3.1.5.6.1.
Note that we list the RTCM msg types as 0 to prevent getting RTCM
data from a GPS previously configured as a base
*/
const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_MB_Rover[] {
#if RTK_MB_UART2 // RTCM3 on UART2
{ ConfigKey::CFG_UART2_ENABLED, 1},
{ ConfigKey::CFG_UART2_BAUDRATE, 460800},
{ ConfigKey::CFG_UART2OUTPROT_RTCM3X, 0},
{ ConfigKey::CFG_UART2OUTPROT_UBX, 0},
{ ConfigKey::CFG_UART2OUTPROT_NMEA, 0},
{ ConfigKey::CFG_UART2INPROT_RTCM3X, 1},
{ ConfigKey::CFG_UART1INPROT_RTCM3X, 0},
{ ConfigKey::MSGOUT_UBX_NAV_RELPOSNED_UART1, 1},
{ ConfigKey::MSGOUT_UBX_NAV_RELPOSNED_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE4072_0_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE4072_1_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1077_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1087_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1097_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1127_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1230_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE4072_0_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE4072_1_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1077_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1087_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1097_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1127_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1230_UART1, 0},
#else // RTCM3 on UART1
{ ConfigKey::CFG_UART2_ENABLED, 0},
{ ConfigKey::CFG_UART2OUTPROT_RTCM3X, 0},
{ ConfigKey::CFG_UART2OUTPROT_UBX, 0},
{ ConfigKey::CFG_UART2OUTPROT_NMEA, 0},
{ ConfigKey::CFG_UART1INPROT_RTCM3X, 1},
{ ConfigKey::CFG_UART2INPROT_RTCM3X, 0},
{ ConfigKey::MSGOUT_UBX_NAV_RELPOSNED_UART1, 1},
{ ConfigKey::MSGOUT_UBX_NAV_RELPOSNED_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE4072_0_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE4072_1_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1077_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1087_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1097_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1127_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1230_UART1, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE4072_0_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE4072_1_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1077_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1087_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1097_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1127_UART2, 0},
{ ConfigKey::MSGOUT_RTCM_3X_TYPE1230_UART2, 0},
#endif
};
void
AP_GPS_UBLOX::_request_next_config(void)
{
// don't request config if we shouldn't configure the GPS
if (gps._auto_config == AP_GPS::GPS_AUTO_CONFIG_DISABLE) {
return;
}
// Ensure there is enough space for the largest possible outgoing message
if (port->txspace() < (uint16_t)(sizeof(struct ubx_header)+sizeof(struct ubx_cfg_nav_rate)+2)) {
// not enough space - do it next time
return;
}
if (_unconfigured_messages == CONFIG_RATE_SOL && havePvtMsg) {
/*
we don't need SOL if we have PVT and TIMEGPS. This is needed
as F9P doesn't support the SOL message
*/
_unconfigured_messages &= ~CONFIG_RATE_SOL;
}
Debug("Unconfigured messages: 0x%x Current message: %u\n", (unsigned)_unconfigured_messages, (unsigned)_next_message);
// check AP_GPS_UBLOX.h for the enum that controls the order.
// This switch statement isn't maintained against the enum in order to reduce code churn
switch (_next_message++) {
case STEP_PVT:
if(!_request_message_rate(CLASS_NAV, MSG_PVT)) {
_next_message--;
}
break;
case STEP_TIMEGPS:
if(!_request_message_rate(CLASS_NAV, MSG_TIMEGPS)) {
_next_message--;
}
break;
case STEP_PORT:
_request_port();
break;
case STEP_POLL_SVINFO:
// not required once we know what generation we are on
if(_hardware_generation == UBLOX_UNKNOWN_HARDWARE_GENERATION) {
if (!_send_message(CLASS_NAV, MSG_NAV_SVINFO, 0, 0)) {
_next_message--;
}
}
break;
case STEP_POLL_SBAS:
if (gps._sbas_mode != 2) {
_send_message(CLASS_CFG, MSG_CFG_SBAS, nullptr, 0);
} else {
_unconfigured_messages &= ~CONFIG_SBAS;
}
break;
case STEP_POLL_NAV:
if (!_send_message(CLASS_CFG, MSG_CFG_NAV_SETTINGS, nullptr, 0)) {
_next_message--;
}
break;
case STEP_POLL_GNSS:
if (!_send_message(CLASS_CFG, MSG_CFG_GNSS, nullptr, 0)) {
_next_message--;
}
break;
case STEP_POLL_TP5:
#if CONFIGURE_PPS_PIN
if (!_send_message(CLASS_CFG, MSG_CFG_TP5, nullptr, 0)) {
_next_message--;
}
#endif
break;
case STEP_NAV_RATE:
if (!_send_message(CLASS_CFG, MSG_CFG_RATE, nullptr, 0)) {
_next_message--;
}
break;
case STEP_POSLLH:
if(!_request_message_rate(CLASS_NAV, MSG_POSLLH)) {
_next_message--;
}
break;
case STEP_STATUS:
if(!_request_message_rate(CLASS_NAV, MSG_STATUS)) {
_next_message--;
}
break;
case STEP_SOL:
if(!_request_message_rate(CLASS_NAV, MSG_SOL)) {
_next_message--;
}
break;
case STEP_VELNED:
if(!_request_message_rate(CLASS_NAV, MSG_VELNED)) {
_next_message--;
}
break;
case STEP_DOP:
if(! _request_message_rate(CLASS_NAV, MSG_DOP)) {
_next_message--;
}
break;
case STEP_MON_HW:
if(!_request_message_rate(CLASS_MON, MSG_MON_HW)) {
_next_message--;
}
break;
case STEP_MON_HW2:
if(!_request_message_rate(CLASS_MON, MSG_MON_HW2)) {
_next_message--;
}
break;
case STEP_RAW:
#if UBLOX_RXM_RAW_LOGGING
if(gps._raw_data == 0) {
_unconfigured_messages &= ~CONFIG_RATE_RAW;
} else if(!_request_message_rate(CLASS_RXM, MSG_RXM_RAW)) {
_next_message--;
}
#else
_unconfigured_messages & = ~CONFIG_RATE_RAW;
#endif
break;
case STEP_RAWX:
#if UBLOX_RXM_RAW_LOGGING
if(gps._raw_data == 0) {
_unconfigured_messages &= ~CONFIG_RATE_RAW;
} else if(!_request_message_rate(CLASS_RXM, MSG_RXM_RAWX)) {
_next_message--;
}
#else
_unconfigured_messages & = ~CONFIG_RATE_RAW;
#endif
break;
case STEP_VERSION:
if(!_have_version && !hal.util->get_soft_armed()) {
_request_version();
} else {
_unconfigured_messages &= ~CONFIG_VERSION;
}
break;
case STEP_TMODE:
if (supports_F9_config()) {
if (!_configure_valget(ConfigKey::TMODE_MODE)) {
_next_message--;
}
}
break;
case STEP_RTK_MOVBASE:
if (supports_F9_config()) {
static_assert(sizeof(active_config.done_mask)*8 >= ARRAY_SIZE(config_MB_Base), "done_mask too small, base");
static_assert(sizeof(active_config.done_mask)*8 >= ARRAY_SIZE(config_MB_Rover), "done_mask too small, rover");
if (role == AP_GPS::GPS_ROLE_MB_BASE &&
!_configure_config_set(config_MB_Base, ARRAY_SIZE(config_MB_Base), CONFIG_RTK_MOVBASE)) {
_next_message--;
}
if (role == AP_GPS::GPS_ROLE_MB_ROVER &&
!_configure_config_set(config_MB_Rover, ARRAY_SIZE(config_MB_Rover), CONFIG_RTK_MOVBASE)) {
_next_message--;
}
}
break;
default:
// this case should never be reached, do a full reset if it is hit
_next_message = STEP_PVT;
break;
}
}
void
AP_GPS_UBLOX::_verify_rate(uint8_t msg_class, uint8_t msg_id, uint8_t rate) {
uint8_t desired_rate;
switch(msg_class) {
case CLASS_NAV:
switch(msg_id) {
case MSG_POSLLH:
desired_rate = havePvtMsg ? 0 : RATE_POSLLH;
if(rate == desired_rate) {
_unconfigured_messages &= ~CONFIG_RATE_POSLLH;
} else {
_configure_message_rate(msg_class, msg_id, desired_rate);
_unconfigured_messages |= CONFIG_RATE_POSLLH;
_cfg_needs_save = true;
}
break;
case MSG_STATUS:
desired_rate = havePvtMsg ? 0 : RATE_STATUS;
if(rate == desired_rate) {
_unconfigured_messages &= ~CONFIG_RATE_STATUS;
} else {
_configure_message_rate(msg_class, msg_id, desired_rate);
_unconfigured_messages |= CONFIG_RATE_STATUS;
_cfg_needs_save = true;
}
break;
case MSG_SOL:
desired_rate = havePvtMsg ? 0 : RATE_SOL;
if(rate == desired_rate) {
_unconfigured_messages &= ~CONFIG_RATE_SOL;
} else {
_configure_message_rate(msg_class, msg_id, desired_rate);
_unconfigured_messages |= CONFIG_RATE_SOL;
_cfg_needs_save = true;
}
break;
case MSG_PVT:
if(rate == RATE_PVT) {
_unconfigured_messages &= ~CONFIG_RATE_PVT;
} else {
_configure_message_rate(msg_class, msg_id, RATE_PVT);
_unconfigured_messages |= CONFIG_RATE_PVT;
_cfg_needs_save = true;
}
break;
case MSG_TIMEGPS:
if(rate == RATE_TIMEGPS) {
_unconfigured_messages &= ~CONFIG_RATE_TIMEGPS;
} else {
_configure_message_rate(msg_class, msg_id, RATE_TIMEGPS);
_unconfigured_messages |= CONFIG_RATE_TIMEGPS;
_cfg_needs_save = true;
}
break;
case MSG_VELNED:
desired_rate = havePvtMsg ? 0 : RATE_VELNED;
if(rate == desired_rate) {
_unconfigured_messages &= ~CONFIG_RATE_VELNED;
} else {
_configure_message_rate(msg_class, msg_id, desired_rate);
_unconfigured_messages |= CONFIG_RATE_VELNED;
_cfg_needs_save = true;
}
break;
case MSG_DOP:
if(rate == RATE_DOP) {
_unconfigured_messages &= ~CONFIG_RATE_DOP;
} else {
_configure_message_rate(msg_class, msg_id, RATE_DOP);
_unconfigured_messages |= CONFIG_RATE_DOP;
_cfg_needs_save = true;
}
break;
}
break;
case CLASS_MON:
switch(msg_id) {
case MSG_MON_HW:
if(rate == RATE_HW) {
_unconfigured_messages &= ~CONFIG_RATE_MON_HW;
} else {
_configure_message_rate(msg_class, msg_id, RATE_HW);
_unconfigured_messages |= CONFIG_RATE_MON_HW;
_cfg_needs_save = true;
}
break;
case MSG_MON_HW2:
if(rate == RATE_HW2) {
_unconfigured_messages &= ~CONFIG_RATE_MON_HW2;
} else {
_configure_message_rate(msg_class, msg_id, RATE_HW2);
_unconfigured_messages |= CONFIG_RATE_MON_HW2;
_cfg_needs_save = true;
}
break;
}
break;
#if UBLOX_RXM_RAW_LOGGING
case CLASS_RXM:
switch(msg_id) {
case MSG_RXM_RAW:
if(rate == gps._raw_data) {
_unconfigured_messages &= ~CONFIG_RATE_RAW;
} else {
_configure_message_rate(msg_class, msg_id, gps._raw_data);
_unconfigured_messages |= CONFIG_RATE_RAW;
_cfg_needs_save = true;
}
break;
case MSG_RXM_RAWX:
if(rate == gps._raw_data) {
_unconfigured_messages &= ~CONFIG_RATE_RAW;
} else {
_configure_message_rate(msg_class, msg_id, gps._raw_data);
_unconfigured_messages |= CONFIG_RATE_RAW;
_cfg_needs_save = true;
}
break;
}
break;
#endif // UBLOX_RXM_RAW_LOGGING
}
}
// Requests the ublox driver to identify what port we are using to communicate
void
AP_GPS_UBLOX::_request_port(void)
{
if (port->txspace() < (uint16_t)(sizeof(struct ubx_header)+2)) {
// not enough space - do it next time
return;
}
_send_message(CLASS_CFG, MSG_CFG_PRT, nullptr, 0);
}
// Ensure there is enough space for the largest possible outgoing message
// Process bytes available from the stream
//
// The stream is assumed to contain only messages we recognise. If it
// contains other messages, and those messages contain the preamble
// bytes, it is possible for this code to fail to synchronise to the
// stream immediately. Without buffering the entire message and
// re-processing it from the top, this is unavoidable. The parser
// attempts to avoid this when possible.
//
bool
AP_GPS_UBLOX::read(void)
{
uint8_t data;
int16_t numc;
bool parsed = false;
uint32_t millis_now = AP_HAL::millis();
// walk through the gps configuration at 1 message per second
if (millis_now - _last_config_time >= _delay_time) {
_request_next_config();
_last_config_time = millis_now;
if (_unconfigured_messages) { // send the updates faster until fully configured
if (!havePvtMsg && (_unconfigured_messages & CONFIG_REQUIRED_INITIAL)) {
_delay_time = 300;
} else {
_delay_time = 750;
}
} else {
_delay_time = 2000;
}
}
if(!_unconfigured_messages && gps._save_config && !_cfg_saved &&
_num_cfg_save_tries < 5 && (millis_now - _last_cfg_sent_time) > 5000 &&
!hal.util->get_soft_armed()) {
//save the configuration sent until now
if (gps._save_config == 1 ||
(gps._save_config == 2 && _cfg_needs_save)) {
_save_cfg();
}
}
numc = port->available();
for (int16_t i = 0; i < numc; i++) { // Process bytes received
// read the next byte
data = port->read();
if (rtcm3_parser) {
if (rtcm3_parser->read(data)) {
// we've found a RTCMv3 packet. We stop parsing at
// this point and reset u-blox parse state. We need to
// stop parsing to give the higher level driver a
// chance to send the RTCMv3 packet to another (rover)
// GPS
_step = 0;
break;
}
}
reset:
switch(_step) {
// Message preamble detection
//
// If we fail to match any of the expected bytes, we reset
// the state machine and re-consider the failed byte as
// the first byte of the preamble. This improves our
// chances of recovering from a mismatch and makes it less
// likely that we will be fooled by the preamble appearing
// as data in some other message.
//
case 1:
if (PREAMBLE2 == data) {
_step++;
break;
}
_step = 0;
Debug("reset %u", __LINE__);
FALLTHROUGH;
case 0:
if(PREAMBLE1 == data)
_step++;
break;
// Message header processing
//
// We sniff the class and message ID to decide whether we
// are going to gather the message bytes or just discard
// them.
//
// We always collect the length so that we can avoid being
// fooled by preamble bytes in messages.
//
case 2:
_step++;
_class = data;
_ck_b = _ck_a = data; // reset the checksum accumulators
break;
case 3:
_step++;
_ck_b += (_ck_a += data); // checksum byte
_msg_id = data;
break;
case 4:
_step++;
_ck_b += (_ck_a += data); // checksum byte
_payload_length = data; // payload length low byte
break;
case 5:
_step++;
_ck_b += (_ck_a += data); // checksum byte
_payload_length += (uint16_t)(data<<8);
if (_payload_length > sizeof(_buffer)) {
Debug("large payload %u", (unsigned)_payload_length);
// assume any payload bigger then what we know about is noise
_payload_length = 0;
_step = 0;
goto reset;
}
_payload_counter = 0; // prepare to receive payload
if (_payload_length == 0) {
// bypass payload and go straight to checksum
_step++;
}
break;
// Receive message data
//
case 6:
_ck_b += (_ck_a += data); // checksum byte
if (_payload_counter < sizeof(_buffer)) {
_buffer[_payload_counter] = data;
}
if (++_payload_counter == _payload_length)
_step++;
break;
// Checksum and message processing
//
case 7:
_step++;
if (_ck_a != data) {
Debug("bad cka %x should be %x", data, _ck_a);
_step = 0;
goto reset;
}
break;
case 8:
_step = 0;
if (_ck_b != data) {
Debug("bad ckb %x should be %x", data, _ck_b);
break; // bad checksum
}
if (rtcm3_parser) {
// this is a uBlox packet, discard any partial RTCMv3 state
rtcm3_parser->reset();
}
if (_parse_gps()) {
parsed = true;
}
break;
}
}
return parsed;
}
// Private Methods /////////////////////////////////////////////////////////////
void AP_GPS_UBLOX::log_mon_hw(void)
{
#ifndef HAL_NO_LOGGING
if (!should_log()) {
return;
}
struct log_Ubx1 pkt = {
LOG_PACKET_HEADER_INIT(_ubx_msg_log_index(LOG_GPS_UBX1_MSG)),
time_us : AP_HAL::micros64(),
instance : state.instance,
noisePerMS : _buffer.mon_hw_60.noisePerMS,
jamInd : _buffer.mon_hw_60.jamInd,
aPower : _buffer.mon_hw_60.aPower,
agcCnt : _buffer.mon_hw_60.agcCnt,
config : _unconfigured_messages,
};
if (_payload_length == 68) {
pkt.noisePerMS = _buffer.mon_hw_68.noisePerMS;
pkt.jamInd = _buffer.mon_hw_68.jamInd;
pkt.aPower = _buffer.mon_hw_68.aPower;
pkt.agcCnt = _buffer.mon_hw_68.agcCnt;
}
AP::logger().WriteBlock(&pkt, sizeof(pkt));
#endif
}
void AP_GPS_UBLOX::log_mon_hw2(void)
{
#ifndef HAL_NO_LOGGING
if (!should_log()) {
return;
}
struct log_Ubx2 pkt = {
LOG_PACKET_HEADER_INIT(_ubx_msg_log_index(LOG_GPS_UBX2_MSG)),
time_us : AP_HAL::micros64(),
instance : state.instance,
ofsI : _buffer.mon_hw2.ofsI,
magI : _buffer.mon_hw2.magI,
ofsQ : _buffer.mon_hw2.ofsQ,
magQ : _buffer.mon_hw2.magQ,
};
AP::logger().WriteBlock(&pkt, sizeof(pkt));
#endif
}
#if UBLOX_RXM_RAW_LOGGING
void AP_GPS_UBLOX::log_rxm_raw(const struct ubx_rxm_raw &raw)
{
#ifndef HAL_NO_LOGGING
if (!should_log()) {
return;
}
uint64_t now = AP_HAL::micros64();
for (uint8_t i=0; i<raw.numSV; i++) {
struct log_GPS_RAW pkt = {
LOG_PACKET_HEADER_INIT(LOG_GPS_RAW_MSG),
time_us : now,
iTOW : raw.iTOW,
week : raw.week,
numSV : raw.numSV,
sv : raw.svinfo[i].sv,
cpMes : raw.svinfo[i].cpMes,
prMes : raw.svinfo[i].prMes,
doMes : raw.svinfo[i].doMes,
mesQI : raw.svinfo[i].mesQI,
cno : raw.svinfo[i].cno,
lli : raw.svinfo[i].lli
};
AP::logger().WriteBlock(&pkt, sizeof(pkt));
}
#endif
}
void AP_GPS_UBLOX::log_rxm_rawx(const struct ubx_rxm_rawx &raw)
{
#ifndef HAL_NO_LOGGING
if (!should_log()) {
return;
}
uint64_t now = AP_HAL::micros64();
struct log_GPS_RAWH header = {
LOG_PACKET_HEADER_INIT(LOG_GPS_RAWH_MSG),
time_us : now,
rcvTow : raw.rcvTow,
week : raw.week,
leapS : raw.leapS,
numMeas : raw.numMeas,
recStat : raw.recStat
};
AP::logger().WriteBlock(&header, sizeof(header));
for (uint8_t i=0; i<raw.numMeas; i++) {
struct log_GPS_RAWS pkt = {
LOG_PACKET_HEADER_INIT(LOG_GPS_RAWS_MSG),
time_us : now,
prMes : raw.svinfo[i].prMes,
cpMes : raw.svinfo[i].cpMes,
doMes : raw.svinfo[i].doMes,
gnssId : raw.svinfo[i].gnssId,
svId : raw.svinfo[i].svId,
freqId : raw.svinfo[i].freqId,
locktime : raw.svinfo[i].locktime,
cno : raw.svinfo[i].cno,
prStdev : raw.svinfo[i].prStdev,
cpStdev : raw.svinfo[i].cpStdev,
doStdev : raw.svinfo[i].doStdev,
trkStat : raw.svinfo[i].trkStat
};
AP::logger().WriteBlock(&pkt, sizeof(pkt));
}
#endif
}
#endif // UBLOX_RXM_RAW_LOGGING
void AP_GPS_UBLOX::unexpected_message(void)
{
Debug("Unexpected message 0x%02x 0x%02x", (unsigned)_class, (unsigned)_msg_id);
if (++_disable_counter == 0) {
// disable future sends of this message id, but
// only do this every 256 messages, as some
// message types can't be disabled and we don't
// want to get into an ack war
Debug("Disabling message 0x%02x 0x%02x", (unsigned)_class, (unsigned)_msg_id);
_configure_message_rate(_class, _msg_id, 0);
}
}
// return size of a config key, or 0 if unknown
uint8_t AP_GPS_UBLOX::config_key_size(ConfigKey key) const
{
// step over the value
const uint8_t key_size = (uint32_t(key) >> 28) & 0x07; // mask off the storage size
switch (key_size) {
case 0x1: // bit
case 0x2: // byte
return 1;
case 0x3: // 2 bytes
return 2;
case 0x4: // 4 bytes
return 4;
case 0x5: // 8 bytes
return 8;
default:
break;
}
// invalid
return 0;
}
/*
find index of a config key in the active_config list, or -1
*/
int8_t AP_GPS_UBLOX::find_active_config_index(ConfigKey key) const
{
if (active_config.list == nullptr) {
return -1;
}
for (uint8_t i=0; i<active_config.count; i++) {
if (key == active_config.list[i].key) {
return (int8_t)i;
}
}
return -1;
}
bool
AP_GPS_UBLOX::_parse_gps(void)
{
if (_class == CLASS_ACK) {
Debug("ACK %u", (unsigned)_msg_id);
if(_msg_id == MSG_ACK_ACK) {
switch(_buffer.ack.clsID) {
case CLASS_CFG:
switch(_buffer.ack.msgID) {
case MSG_CFG_CFG:
_cfg_saved = true;
_cfg_needs_save = false;
break;
case MSG_CFG_GNSS:
_unconfigured_messages &= ~CONFIG_GNSS;
break;
case MSG_CFG_MSG:
// There is no way to know what MSG config was ack'ed, assume it was the last
// one requested. To verify it rerequest the last config we sent. If we miss
// the actual ack we will catch it next time through the poll loop, but that
// will be a good chunk of time later.
break;
case MSG_CFG_NAV_SETTINGS:
_unconfigured_messages &= ~CONFIG_NAV_SETTINGS;
break;
case MSG_CFG_RATE:
// The GPS will ACK a update rate that is invalid. in order to detect this
// only accept the rate as configured by reading the settings back and
// validating that they all match the target values
break;
case MSG_CFG_SBAS:
_unconfigured_messages &= ~CONFIG_SBAS;
break;
case MSG_CFG_TP5:
_unconfigured_messages &= ~CONFIG_TP5;
break;
}
break;
case CLASS_MON:
switch(_buffer.ack.msgID) {
case MSG_MON_HW:
_unconfigured_messages &= ~CONFIG_RATE_MON_HW;
break;
case MSG_MON_HW2:
_unconfigured_messages &= ~CONFIG_RATE_MON_HW2;
break;
}
}
}
return false;
}
if (_class == CLASS_CFG) {
switch(_msg_id) {
case MSG_CFG_NAV_SETTINGS:
Debug("Got settings %u min_elev %d drLimit %u\n",
(unsigned)_buffer.nav_settings.dynModel,
(int)_buffer.nav_settings.minElev,
(unsigned)_buffer.nav_settings.drLimit);
_buffer.nav_settings.mask = 0;
if (gps._navfilter != AP_GPS::GPS_ENGINE_NONE &&
_buffer.nav_settings.dynModel != gps._navfilter) {
// we've received the current nav settings, change the engine
// settings and send them back
Debug("Changing engine setting from %u to %u\n",
(unsigned)_buffer.nav_settings.dynModel, (unsigned)gps._navfilter);
_buffer.nav_settings.dynModel = gps._navfilter;
_buffer.nav_settings.mask |= 1;
}
if (gps._min_elevation != -100 &&
_buffer.nav_settings.minElev != gps._min_elevation) {
Debug("Changing min elevation to %d\n", (int)gps._min_elevation);
_buffer.nav_settings.minElev = gps._min_elevation;
_buffer.nav_settings.mask |= 2;
}
if (_buffer.nav_settings.mask != 0) {
_send_message(CLASS_CFG, MSG_CFG_NAV_SETTINGS,
&_buffer.nav_settings,
sizeof(_buffer.nav_settings));
_unconfigured_messages |= CONFIG_NAV_SETTINGS;
_cfg_needs_save = true;
} else {
_unconfigured_messages &= ~CONFIG_NAV_SETTINGS;
}
return false;
#if UBLOX_GNSS_SETTINGS
case MSG_CFG_GNSS:
if (gps._gnss_mode[state.instance] != 0) {
struct ubx_cfg_gnss start_gnss = _buffer.gnss;
uint8_t gnssCount = 0;
Debug("Got GNSS Settings %u %u %u %u:\n",
(unsigned)_buffer.gnss.msgVer,
(unsigned)_buffer.gnss.numTrkChHw,
(unsigned)_buffer.gnss.numTrkChUse,
(unsigned)_buffer.gnss.numConfigBlocks);
#if UBLOX_DEBUGGING
for(int i = 0; i < _buffer.gnss.numConfigBlocks; i++) {
Debug(" %u %u %u 0x%08x\n",
(unsigned)_buffer.gnss.configBlock[i].gnssId,
(unsigned)_buffer.gnss.configBlock[i].resTrkCh,
(unsigned)_buffer.gnss.configBlock[i].maxTrkCh,
(unsigned)_buffer.gnss.configBlock[i].flags);
}
#endif
for(int i = 0; i < UBLOX_MAX_GNSS_CONFIG_BLOCKS; i++) {
if((gps._gnss_mode[state.instance] & (1 << i)) && i != GNSS_SBAS) {
gnssCount++;
}
}
for(int i = 0; i < _buffer.gnss.numConfigBlocks; i++) {
// Reserve an equal portion of channels for all enabled systems
if(gps._gnss_mode[state.instance] & (1 << _buffer.gnss.configBlock[i].gnssId)) {
if(GNSS_SBAS !=_buffer.gnss.configBlock[i].gnssId) {
_buffer.gnss.configBlock[i].resTrkCh = (_buffer.gnss.numTrkChHw - 3) / (gnssCount * 2);
_buffer.gnss.configBlock[i].maxTrkCh = _buffer.gnss.numTrkChHw;
} else {
_buffer.gnss.configBlock[i].resTrkCh = 1;
_buffer.gnss.configBlock[i].maxTrkCh = 3;
}
_buffer.gnss.configBlock[i].flags = _buffer.gnss.configBlock[i].flags | 0x00000001;
} else {
_buffer.gnss.configBlock[i].resTrkCh = 0;
_buffer.gnss.configBlock[i].maxTrkCh = 0;
_buffer.gnss.configBlock[i].flags = _buffer.gnss.configBlock[i].flags & 0xFFFFFFFE;
}
}
if (memcmp(&start_gnss, &_buffer.gnss, sizeof(start_gnss))) {
_send_message(CLASS_CFG, MSG_CFG_GNSS, &_buffer.gnss, 4 + (8 * _buffer.gnss.numConfigBlocks));
_unconfigured_messages |= CONFIG_GNSS;
_cfg_needs_save = true;
} else {
_unconfigured_messages &= ~CONFIG_GNSS;
}
} else {
_unconfigured_messages &= ~CONFIG_GNSS;
}
return false;
#endif
case MSG_CFG_SBAS:
if (gps._sbas_mode != 2) {
Debug("Got SBAS settings %u %u %u 0x%x 0x%x\n",
(unsigned)_buffer.sbas.mode,
(unsigned)_buffer.sbas.usage,
(unsigned)_buffer.sbas.maxSBAS,
(unsigned)_buffer.sbas.scanmode2,
(unsigned)_buffer.sbas.scanmode1);
if (_buffer.sbas.mode != gps._sbas_mode) {
_buffer.sbas.mode = gps._sbas_mode;
_send_message(CLASS_CFG, MSG_CFG_SBAS,
&_buffer.sbas,
sizeof(_buffer.sbas));
_unconfigured_messages |= CONFIG_SBAS;
_cfg_needs_save = true;
} else {
_unconfigured_messages &= ~CONFIG_SBAS;
}
} else {
_unconfigured_messages &= ~CONFIG_SBAS;
}
return false;
case MSG_CFG_MSG:
if(_payload_length == sizeof(ubx_cfg_msg_rate_6)) {
// can't verify the setting without knowing the port
// request the port again
if(_ublox_port >= UBLOX_MAX_PORTS) {
_request_port();
return false;
}
_verify_rate(_buffer.msg_rate_6.msg_class, _buffer.msg_rate_6.msg_id,
_buffer.msg_rate_6.rates[_ublox_port]);
} else {
_verify_rate(_buffer.msg_rate.msg_class, _buffer.msg_rate.msg_id,
_buffer.msg_rate.rate);
}
return false;
case MSG_CFG_PRT:
_ublox_port = _buffer.prt.portID;
return false;
case MSG_CFG_RATE:
if(_buffer.nav_rate.measure_rate_ms != gps._rate_ms[state.instance] ||
_buffer.nav_rate.nav_rate != 1 ||
_buffer.nav_rate.timeref != 0) {
_configure_rate();
_unconfigured_messages |= CONFIG_RATE_NAV;
_cfg_needs_save = true;
} else {
_unconfigured_messages &= ~CONFIG_RATE_NAV;
}
return false;
#if CONFIGURE_PPS_PIN
case MSG_CFG_TP5: {
// configure the PPS pin for 1Hz, zero delay
Debug("Got TP5 ver=%u 0x%04x %u\n",
(unsigned)_buffer.nav_tp5.version,
(unsigned)_buffer.nav_tp5.flags,
(unsigned)_buffer.nav_tp5.freqPeriod);
const uint16_t desired_flags = 0x003f;
const uint16_t desired_period_hz = 1;
if (_buffer.nav_tp5.flags != desired_flags ||
_buffer.nav_tp5.freqPeriod != desired_period_hz) {
_buffer.nav_tp5.tpIdx = 0;
_buffer.nav_tp5.reserved1[0] = 0;
_buffer.nav_tp5.reserved1[1] = 0;
_buffer.nav_tp5.antCableDelay = 0;
_buffer.nav_tp5.rfGroupDelay = 0;
_buffer.nav_tp5.freqPeriod = desired_period_hz;
_buffer.nav_tp5.freqPeriodLock = desired_period_hz;
_buffer.nav_tp5.pulseLenRatio = 1;
_buffer.nav_tp5.pulseLenRatioLock = 2;
_buffer.nav_tp5.userConfigDelay = 0;
_buffer.nav_tp5.flags = desired_flags;
_send_message(CLASS_CFG, MSG_CFG_TP5,
&_buffer.nav_tp5,
sizeof(_buffer.nav_tp5));
_unconfigured_messages |= CONFIG_TP5;
_cfg_needs_save = true;
} else {
_unconfigured_messages &= ~CONFIG_TP5;
}
return false;
}
#endif // CONFIGURE_PPS_PIN
case MSG_CFG_VALGET: {
uint8_t cfg_len = _payload_length - sizeof(ubx_cfg_valget);
const uint8_t *cfg_data = (const uint8_t *)(&_buffer) + sizeof(ubx_cfg_valget);
while (cfg_len >= 5) {
ConfigKey id;
memcpy(&id, cfg_data, sizeof(uint32_t));
cfg_len -= 4;
cfg_data += 4;
switch (id) {
case ConfigKey::TMODE_MODE: {
uint8_t mode = cfg_data[0];
if (mode != 0) {
// ask for mode 0, to disable TIME mode
mode = 0;
_configure_valset(ConfigKey::TMODE_MODE, &mode);
_cfg_needs_save = true;
_unconfigured_messages |= CONFIG_TMODE_MODE;
} else {
_unconfigured_messages &= ~CONFIG_TMODE_MODE;
}
break;
}
default:
break;
}
// see if it is in active config list
int8_t cfg_idx = find_active_config_index(id);
if (cfg_idx >= 0) {
const uint8_t key_size = config_key_size(id);
if (cfg_len < key_size ||
memcmp(&active_config.list[cfg_idx].value, cfg_data, key_size) != 0) {
_configure_valset(id, &active_config.list[cfg_idx].value);
_unconfigured_messages |= active_config.unconfig_bit;
active_config.done_mask &= ~(1U << cfg_idx);
_cfg_needs_save = true;
} else {
active_config.done_mask |= (1U << cfg_idx);
if (active_config.done_mask == (1U<<active_config.count)-1) {
// all done!
_unconfigured_messages &= ~active_config.unconfig_bit;
}
}
}
// step over the value
uint8_t step_size = config_key_size(id);
if (step_size == 0) {
return false;
}
cfg_len -= step_size;
cfg_data += step_size;
}
}
}
}
if (_class == CLASS_MON) {
switch(_msg_id) {
case MSG_MON_HW:
if (_payload_length == 60 || _payload_length == 68) {
log_mon_hw();
}
break;
case MSG_MON_HW2:
if (_payload_length == 28) {
log_mon_hw2();
}
break;
case MSG_MON_VER:
_have_version = true;
strncpy(_version.hwVersion, _buffer.mon_ver.hwVersion, sizeof(_version.hwVersion));
strncpy(_version.swVersion, _buffer.mon_ver.swVersion, sizeof(_version.swVersion));
GCS_SEND_TEXT(MAV_SEVERITY_INFO,
"u-blox %d HW: %s SW: %s",
state.instance + 1,
_version.hwVersion,
_version.swVersion);
// check for F9. The F9 does not respond to SVINFO, so we need to use MON_VER
// for hardware generation
if (strncmp(_version.hwVersion, "00190000", 8) == 0) {
if (_hardware_generation != UBLOX_F9) {
// need to ensure time mode is correctly setup on F9
_unconfigured_messages |= CONFIG_TMODE_MODE;
}
_hardware_generation = UBLOX_F9;
}
break;
default:
unexpected_message();
}
return false;
}
#if UBLOX_RXM_RAW_LOGGING
if (_class == CLASS_RXM && _msg_id == MSG_RXM_RAW && gps._raw_data != 0) {
log_rxm_raw(_buffer.rxm_raw);
return false;
} else if (_class == CLASS_RXM && _msg_id == MSG_RXM_RAWX && gps._raw_data != 0) {
log_rxm_rawx(_buffer.rxm_rawx);
return false;
}
#endif // UBLOX_RXM_RAW_LOGGING
if (_class != CLASS_NAV) {
unexpected_message();
return false;
}
switch (_msg_id) {
case MSG_POSLLH:
Debug("MSG_POSLLH next_fix=%u", next_fix);
if (havePvtMsg) {
_unconfigured_messages |= CONFIG_RATE_POSLLH;
break;
}
_check_new_itow(_buffer.posllh.itow);
_last_pos_time = _buffer.posllh.itow;
state.location.lng = _buffer.posllh.longitude;
state.location.lat = _buffer.posllh.latitude;
state.location.alt = _buffer.posllh.altitude_msl / 10;
state.status = next_fix;
_new_position = true;
state.horizontal_accuracy = _buffer.posllh.horizontal_accuracy*1.0e-3f;
state.vertical_accuracy = _buffer.posllh.vertical_accuracy*1.0e-3f;
state.have_horizontal_accuracy = true;
state.have_vertical_accuracy = true;
#if UBLOX_FAKE_3DLOCK
state.location.lng = 1491652300L;
state.location.lat = -353632610L;
state.location.alt = 58400;
state.vertical_accuracy = 0;
state.horizontal_accuracy = 0;
#endif
break;
case MSG_STATUS:
Debug("MSG_STATUS fix_status=%u fix_type=%u",
_buffer.status.fix_status,
_buffer.status.fix_type);
_check_new_itow(_buffer.status.itow);
if (havePvtMsg) {
_unconfigured_messages |= CONFIG_RATE_STATUS;
break;
}
if (_buffer.status.fix_status & NAV_STATUS_FIX_VALID) {
if( (_buffer.status.fix_type == AP_GPS_UBLOX::FIX_3D) &&
(_buffer.status.fix_status & AP_GPS_UBLOX::NAV_STATUS_DGPS_USED)) {
next_fix = AP_GPS::GPS_OK_FIX_3D_DGPS;
}else if( _buffer.status.fix_type == AP_GPS_UBLOX::FIX_3D) {
next_fix = AP_GPS::GPS_OK_FIX_3D;
}else if (_buffer.status.fix_type == AP_GPS_UBLOX::FIX_2D) {
next_fix = AP_GPS::GPS_OK_FIX_2D;
}else{
next_fix = AP_GPS::NO_FIX;
state.status = AP_GPS::NO_FIX;
}
}else{
next_fix = AP_GPS::NO_FIX;
state.status = AP_GPS::NO_FIX;
}
#if UBLOX_FAKE_3DLOCK
state.status = AP_GPS::GPS_OK_FIX_3D;
next_fix = state.status;
#endif
break;
case MSG_DOP:
Debug("MSG_DOP");
noReceivedHdop = false;
_check_new_itow(_buffer.dop.itow);
state.hdop = _buffer.dop.hDOP;
state.vdop = _buffer.dop.vDOP;
#if UBLOX_FAKE_3DLOCK
state.hdop = 130;
state.hdop = 170;
#endif
break;
case MSG_SOL:
Debug("MSG_SOL fix_status=%u fix_type=%u",
_buffer.solution.fix_status,
_buffer.solution.fix_type);
_check_new_itow(_buffer.solution.itow);
if (havePvtMsg) {
state.time_week = _buffer.solution.week;
break;
}
if (_buffer.solution.fix_status & NAV_STATUS_FIX_VALID) {
if( (_buffer.solution.fix_type == AP_GPS_UBLOX::FIX_3D) &&
(_buffer.solution.fix_status & AP_GPS_UBLOX::NAV_STATUS_DGPS_USED)) {
next_fix = AP_GPS::GPS_OK_FIX_3D_DGPS;
}else if( _buffer.solution.fix_type == AP_GPS_UBLOX::FIX_3D) {
next_fix = AP_GPS::GPS_OK_FIX_3D;
}else if (_buffer.solution.fix_type == AP_GPS_UBLOX::FIX_2D) {
next_fix = AP_GPS::GPS_OK_FIX_2D;
}else{
next_fix = AP_GPS::NO_FIX;
state.status = AP_GPS::NO_FIX;
}
}else{
next_fix = AP_GPS::NO_FIX;
state.status = AP_GPS::NO_FIX;
}
if(noReceivedHdop) {
state.hdop = _buffer.solution.position_DOP;
}
state.num_sats = _buffer.solution.satellites;
if (next_fix >= AP_GPS::GPS_OK_FIX_2D) {
state.last_gps_time_ms = AP_HAL::millis();
state.time_week_ms = _buffer.solution.itow;
state.time_week = _buffer.solution.week;
}
#if UBLOX_FAKE_3DLOCK
next_fix = state.status;
state.num_sats = 10;
state.time_week = 1721;
state.time_week_ms = AP_HAL::millis() + 3*60*60*1000 + 37000;
state.last_gps_time_ms = AP_HAL::millis();
state.hdop = 130;
#endif
break;
case MSG_RELPOSNED:
{
const Vector3f &offset0 = gps._antenna_offset[0].get();
const Vector3f &offset1 = gps._antenna_offset[1].get();
// note that we require the yaw to come from a fixed solution, not a float solution
// yaw from a float solution would only be acceptable with a very large separation between
// GPS modules
const uint32_t valid_mask = static_cast<uint32_t>(RELPOSNED::relPosHeadingValid) |
static_cast<uint32_t>(RELPOSNED::relPosValid) |
static_cast<uint32_t>(RELPOSNED::gnssFixOK) |
static_cast<uint32_t>(RELPOSNED::isMoving) |
static_cast<uint32_t>(RELPOSNED::carrSolnFixed);
const uint32_t invalid_mask = static_cast<uint32_t>(RELPOSNED::refPosMiss) |
static_cast<uint32_t>(RELPOSNED::refObsMiss) |
static_cast<uint32_t>(RELPOSNED::carrSolnFloat);
const float offset_dist = (offset0 - offset1).length();
const float rel_dist = _buffer.relposned.relPosLength * 1.0e-2;
const float strict_length_error_allowed = 0.2; // allow for up to 20% error
const float min_separation = 0.05;
MB_Debug("RELPOSNED[%u]: od:%.2f rd:%.2f flags:0x%04x t=%u",
state.instance+1,
offset_dist, rel_dist,
unsigned(_buffer.relposned.flags),
unsigned(_buffer.relposned.iTOW));
if (((_buffer.relposned.flags & valid_mask) == valid_mask) &&
((_buffer.relposned.flags & invalid_mask) == 0) &&
rel_dist > min_separation &&
offset_dist > min_separation &&
fabsf(offset_dist - rel_dist) / MIN(offset_dist, rel_dist) < strict_length_error_allowed) {
float rotation_offset_rad;
const Vector3f diff = offset0 - offset1;
rotation_offset_rad = Vector2f(diff.x, diff.y).angle();
if (state.instance != 0) {
rotation_offset_rad += M_PI;
}
state.gps_yaw = wrap_360(_buffer.relposned.relPosHeading * 1e-5 + degrees(rotation_offset_rad));
state.have_gps_yaw = true;
state.gps_yaw_accuracy = _buffer.relposned.accHeading * 1e-5;
state.have_gps_yaw_accuracy = true;
} else {
state.have_gps_yaw = false;
state.have_gps_yaw_accuracy = false;
}
}
break;
case MSG_PVT:
Debug("MSG_PVT");
havePvtMsg = true;
// position
_check_new_itow(_buffer.pvt.itow);
_last_pos_time = _buffer.pvt.itow;
state.location.lng = _buffer.pvt.lon;
state.location.lat = _buffer.pvt.lat;
state.location.alt = _buffer.pvt.h_msl / 10;
switch (_buffer.pvt.fix_type)
{
case 0:
state.status = AP_GPS::NO_FIX;
break;
case 1:
state.status = AP_GPS::NO_FIX;
break;
case 2:
state.status = AP_GPS::GPS_OK_FIX_2D;
break;
case 3:
state.status = AP_GPS::GPS_OK_FIX_3D;
if (_buffer.pvt.flags & 0b00000010) // diffsoln
state.status = AP_GPS::GPS_OK_FIX_3D_DGPS;
if (_buffer.pvt.flags & 0b01000000) // carrsoln - float
state.status = AP_GPS::GPS_OK_FIX_3D_RTK_FLOAT;
if (_buffer.pvt.flags & 0b10000000) // carrsoln - fixed
state.status = AP_GPS::GPS_OK_FIX_3D_RTK_FIXED;
break;
case 4:
GCS_SEND_TEXT(MAV_SEVERITY_INFO,
"Unexpected state %d", _buffer.pvt.flags);
state.status = AP_GPS::GPS_OK_FIX_3D;
break;
case 5:
state.status = AP_GPS::NO_FIX;
break;
default:
state.status = AP_GPS::NO_FIX;
break;
}
next_fix = state.status;
_new_position = true;
state.horizontal_accuracy = _buffer.pvt.h_acc*1.0e-3f;
state.vertical_accuracy = _buffer.pvt.v_acc*1.0e-3f;
state.have_horizontal_accuracy = true;
state.have_vertical_accuracy = true;
// SVs
state.num_sats = _buffer.pvt.num_sv;
// velocity
_last_vel_time = _buffer.pvt.itow;
state.ground_speed = _buffer.pvt.gspeed*0.001f; // m/s
state.ground_course = wrap_360(_buffer.pvt.head_mot * 1.0e-5f); // Heading 2D deg * 100000
state.have_vertical_velocity = true;
state.velocity.x = _buffer.pvt.velN * 0.001f;
state.velocity.y = _buffer.pvt.velE * 0.001f;
state.velocity.z = _buffer.pvt.velD * 0.001f;
state.have_speed_accuracy = true;
state.speed_accuracy = _buffer.pvt.s_acc*0.001f;
_new_speed = true;
// dop
if(noReceivedHdop) {
state.hdop = _buffer.pvt.p_dop;
state.vdop = _buffer.pvt.p_dop;
}
state.last_gps_time_ms = AP_HAL::millis();
// time
state.time_week_ms = _buffer.pvt.itow;
#if UBLOX_FAKE_3DLOCK
state.location.lng = 1491652300L;
state.location.lat = -353632610L;
state.location.alt = 58400;
state.vertical_accuracy = 0;
state.horizontal_accuracy = 0;
state.status = AP_GPS::GPS_OK_FIX_3D;
state.num_sats = 10;
state.time_week = 1721;
state.time_week_ms = AP_HAL::millis() + 3*60*60*1000 + 37000;
state.last_gps_time_ms = AP_HAL::millis();
state.hdop = 130;
state.speed_accuracy = 0;
next_fix = state.status;
#endif
break;
case MSG_TIMEGPS:
Debug("MSG_TIMEGPS");
_check_new_itow(_buffer.timegps.itow);
if (_buffer.timegps.valid & UBX_TIMEGPS_VALID_WEEK_MASK) {
state.time_week = _buffer.timegps.week;
}
break;
case MSG_VELNED:
Debug("MSG_VELNED");
if (havePvtMsg) {
_unconfigured_messages |= CONFIG_RATE_VELNED;
break;
}
_check_new_itow(_buffer.velned.itow);
_last_vel_time = _buffer.velned.itow;
state.ground_speed = _buffer.velned.speed_2d*0.01f; // m/s
state.ground_course = wrap_360(_buffer.velned.heading_2d * 1.0e-5f); // Heading 2D deg * 100000
state.have_vertical_velocity = true;
state.velocity.x = _buffer.velned.ned_north * 0.01f;
state.velocity.y = _buffer.velned.ned_east * 0.01f;
state.velocity.z = _buffer.velned.ned_down * 0.01f;
state.ground_course = wrap_360(degrees(atan2f(state.velocity.y, state.velocity.x)));
state.ground_speed = norm(state.velocity.y, state.velocity.x);
state.have_speed_accuracy = true;
state.speed_accuracy = _buffer.velned.speed_accuracy*0.01f;
#if UBLOX_FAKE_3DLOCK
state.speed_accuracy = 0;
#endif
_new_speed = true;
break;
case MSG_NAV_SVINFO:
{
Debug("MSG_NAV_SVINFO\n");
static const uint8_t HardwareGenerationMask = 0x07;
_check_new_itow(_buffer.svinfo_header.itow);
_hardware_generation = _buffer.svinfo_header.globalFlags & HardwareGenerationMask;
switch (_hardware_generation) {
case UBLOX_5:
case UBLOX_6:
// only 7 and newer support CONFIG_GNSS
_unconfigured_messages &= ~CONFIG_GNSS;
break;
case UBLOX_7:
case UBLOX_M8:
#if UBLOX_SPEED_CHANGE
port->begin(4000000U);
Debug("Changed speed to 4Mhz for SPI-driven UBlox\n");
#endif
break;
default:
hal.console->printf("Wrong Ublox Hardware Version%u\n", _hardware_generation);
break;
};
_unconfigured_messages &= ~CONFIG_VERSION;
/* We don't need that anymore */
_configure_message_rate(CLASS_NAV, MSG_NAV_SVINFO, 0);
break;
}
default:
Debug("Unexpected NAV message 0x%02x", (unsigned)_msg_id);
if (++_disable_counter == 0) {
Debug("Disabling NAV message 0x%02x", (unsigned)_msg_id);
_configure_message_rate(CLASS_NAV, _msg_id, 0);
}
return false;
}
// we only return true when we get new position and speed data
// this ensures we don't use stale data
if (_new_position && _new_speed && _last_vel_time == _last_pos_time) {
_new_speed = _new_position = false;
return true;
}
return false;
}
// UBlox auto configuration
/*
* update checksum for a set of bytes
*/
void
AP_GPS_UBLOX::_update_checksum(uint8_t *data, uint16_t len, uint8_t &ck_a, uint8_t &ck_b)
{
while (len--) {
ck_a += *data;
ck_b += ck_a;
data++;
}
}
/*
* send a ublox message
*/
bool
AP_GPS_UBLOX::_send_message(uint8_t msg_class, uint8_t msg_id, void *msg, uint16_t size)
{
if (port->txspace() < (sizeof(struct ubx_header) + 2 + size)) {
return false;
}
struct ubx_header header;
uint8_t ck_a=0, ck_b=0;
header.preamble1 = PREAMBLE1;
header.preamble2 = PREAMBLE2;
header.msg_class = msg_class;
header.msg_id = msg_id;
header.length = size;
_update_checksum((uint8_t *)&header.msg_class, sizeof(header)-2, ck_a, ck_b);
_update_checksum((uint8_t *)msg, size, ck_a, ck_b);
port->write((const uint8_t *)&header, sizeof(header));
port->write((const uint8_t *)msg, size);
port->write((const uint8_t *)&ck_a, 1);
port->write((const uint8_t *)&ck_b, 1);
return true;
}
/*
* requests the given message rate for a specific message class
* and msg_id
* returns true if it sent the request, false if waiting on knowing the port
*/
bool
AP_GPS_UBLOX::_request_message_rate(uint8_t msg_class, uint8_t msg_id)
{
// Without knowing what communication port is being used it isn't possible to verify
// always ensure we have a port before sending the request
if(_ublox_port >= UBLOX_MAX_PORTS) {
_request_port();
return false;
} else {
struct ubx_cfg_msg msg;
msg.msg_class = msg_class;
msg.msg_id = msg_id;
return _send_message(CLASS_CFG, MSG_CFG_MSG, &msg, sizeof(msg));
}
}
/*
* configure a UBlox GPS for the given message rate for a specific
* message class and msg_id
*/
bool
AP_GPS_UBLOX::_configure_message_rate(uint8_t msg_class, uint8_t msg_id, uint8_t rate)
{
if (port->txspace() < (uint16_t)(sizeof(struct ubx_header)+sizeof(struct ubx_cfg_msg_rate)+2)) {
return false;
}
struct ubx_cfg_msg_rate msg;
msg.msg_class = msg_class;
msg.msg_id = msg_id;
msg.rate = rate;
return _send_message(CLASS_CFG, MSG_CFG_MSG, &msg, sizeof(msg));
}
/*
* configure F9 based key/value pair - VALSET
*/
bool
AP_GPS_UBLOX::_configure_valset(ConfigKey key, const void *value)
{
if (!supports_F9_config()) {
return false;
}
const uint8_t len = config_key_size(key);
struct ubx_cfg_valset msg {};
uint8_t buf[sizeof(msg)+len];
if (port->txspace() < (uint16_t)(sizeof(struct ubx_header)+sizeof(buf)+2)) {
return false;
}
msg.version = 1;
msg.layers = 7; // all layers
msg.transaction = 0;
msg.key = uint32_t(key);
memcpy(buf, &msg, sizeof(msg));
memcpy(&buf[sizeof(msg)], value, len);
auto ret = _send_message(CLASS_CFG, MSG_CFG_VALSET, buf, sizeof(buf));
return ret;
}
/*
* configure F9 based key/value pair - VALGET
*/
bool
AP_GPS_UBLOX::_configure_valget(ConfigKey key)
{
if (!supports_F9_config()) {
return false;
}
struct {
struct ubx_cfg_valget msg;
ConfigKey key;
} msg {};
if (port->txspace() < (uint16_t)(sizeof(struct ubx_header)+sizeof(msg)+2)) {
return false;
}
msg.msg.version = 0;
msg.msg.layers = 0; // ram
msg.key = key;
return _send_message(CLASS_CFG, MSG_CFG_VALGET, &msg, sizeof(msg));
}
/*
* configure F9 based key/value pair for a complete config list
*/
bool
AP_GPS_UBLOX::_configure_config_set(const config_list *list, uint8_t count, uint32_t unconfig_bit)
{
active_config.list = list;
active_config.count = count;
active_config.done_mask = 0;
active_config.unconfig_bit = unconfig_bit;
uint8_t buf[sizeof(ubx_cfg_valget)+count*sizeof(ConfigKey)];
struct ubx_cfg_valget msg {};
if (port->txspace() < (uint16_t)(sizeof(struct ubx_header)+sizeof(buf)+2)) {
return false;
}
msg.version = 0;
msg.layers = 0; // ram
memcpy(buf, &msg, sizeof(msg));
for (uint8_t i=0; i<count; i++) {
memcpy(&buf[sizeof(msg)+i*sizeof(ConfigKey)], &list[i].key, sizeof(ConfigKey));
}
return _send_message(CLASS_CFG, MSG_CFG_VALGET, buf, sizeof(buf));
}
/*
* save gps configurations to non-volatile memory sent until the call of
* this message
*/
void
AP_GPS_UBLOX::_save_cfg()
{
ubx_cfg_cfg save_cfg;
save_cfg.clearMask = 0;
save_cfg.saveMask = SAVE_CFG_ALL;
save_cfg.loadMask = 0;
_send_message(CLASS_CFG, MSG_CFG_CFG, &save_cfg, sizeof(save_cfg));
_last_cfg_sent_time = AP_HAL::millis();
_num_cfg_save_tries++;
GCS_SEND_TEXT(MAV_SEVERITY_INFO,
"GPS: u-blox %d saving config",
state.instance + 1);
}
/*
detect a Ublox GPS. Adds one byte, and returns true if the stream
matches a UBlox
*/
bool
AP_GPS_UBLOX::_detect(struct UBLOX_detect_state &state, uint8_t data)
{
reset:
switch (state.step) {
case 1:
if (PREAMBLE2 == data) {
state.step++;
break;
}
state.step = 0;
FALLTHROUGH;
case 0:
if (PREAMBLE1 == data)
state.step++;
break;
case 2:
state.step++;
state.ck_b = state.ck_a = data;
break;
case 3:
state.step++;
state.ck_b += (state.ck_a += data);
break;
case 4:
state.step++;
state.ck_b += (state.ck_a += data);
state.payload_length = data;
break;
case 5:
state.step++;
state.ck_b += (state.ck_a += data);
state.payload_counter = 0;
break;
case 6:
state.ck_b += (state.ck_a += data);
if (++state.payload_counter == state.payload_length)
state.step++;
break;
case 7:
state.step++;
if (state.ck_a != data) {
state.step = 0;
goto reset;
}
break;
case 8:
state.step = 0;
if (state.ck_b == data) {
// a valid UBlox packet
return true;
} else {
goto reset;
}
}
return false;
}
void
AP_GPS_UBLOX::_request_version(void)
{
_send_message(CLASS_MON, MSG_MON_VER, nullptr, 0);
}
void
AP_GPS_UBLOX::_configure_rate(void)
{
struct ubx_cfg_nav_rate msg;
// require a minimum measurement rate of 5Hz
msg.measure_rate_ms = gps.get_rate_ms(state.instance);
msg.nav_rate = 1;
msg.timeref = 0; // UTC time
_send_message(CLASS_CFG, MSG_CFG_RATE, &msg, sizeof(msg));
}
static const char *reasons[] = {"navigation rate",
"posllh rate",
"status rate",
"solution rate",
"velned rate",
"dop rate",
"hw monitor rate",
"hw2 monitor rate",
"raw rate",
"version",
"navigation settings",
"GNSS settings",
"SBAS settings",
"PVT rate",
"time pulse settings",
"TIMEGPS rate",
"Time mode settings",
"RTK MB"};
static_assert((1 << ARRAY_SIZE(reasons)) == CONFIG_LAST, "UBLOX: Missing configuration description");
void
AP_GPS_UBLOX::broadcast_configuration_failure_reason(void) const {
for (uint8_t i = 0; i < ARRAY_SIZE(reasons); i++) {
if (_unconfigured_messages & (1 << i)) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GPS %u: u-blox %s configuration 0x%02x",
(unsigned int)(state.instance + 1), reasons[i], (unsigned int)_unconfigured_messages);
break;
}
}
}
/*
return velocity lag in seconds
*/
bool AP_GPS_UBLOX::get_lag(float &lag_sec) const
{
switch (_hardware_generation) {
case UBLOX_UNKNOWN_HARDWARE_GENERATION:
lag_sec = 0.22f;
// always bail out in this case, it's used to indicate we have yet to receive a valid
// hardware generation, however the user may have inhibited us detecting the generation
// so if we aren't allowed to do configuration, we will accept this as the default delay
return gps._auto_config != AP_GPS::GPS_AUTO_CONFIG_ENABLE;
case UBLOX_5:
case UBLOX_6:
default:
lag_sec = 0.22f;
break;
case UBLOX_7:
case UBLOX_M8:
// based on flight logs the 7 and 8 series seem to produce about 120ms lag
lag_sec = 0.12f;
break;
case UBLOX_F9:
// F9 lag not verified yet from flight log, but likely to be at least
// as good as M8
lag_sec = 0.12f;
if (role == AP_GPS::GPS_ROLE_MB_BASE ||
role == AP_GPS::GPS_ROLE_MB_ROVER) {
// the moving baseline rover will lag about 40ms from the
// base. We need to provide the more conservative value to
// ensure that the EKF allocates a larger enough buffer
lag_sec += 0.04;
}
break;
};
return true;
}
void AP_GPS_UBLOX::Write_AP_Logger_Log_Startup_messages() const
{
#ifndef HAL_NO_LOGGING
AP_GPS_Backend::Write_AP_Logger_Log_Startup_messages();
if (_have_version) {
AP::logger().Write_MessageF("u-blox %d HW: %s SW: %s",
state.instance+1,
_version.hwVersion,
_version.swVersion);
}
#endif
}
// uBlox specific check_new_itow(), handling message length
void AP_GPS_UBLOX::_check_new_itow(uint32_t itow)
{
check_new_itow(itow, _payload_length + sizeof(ubx_header) + 2);
}
// support for retrieving RTCMv3 data from a moving baseline base
bool AP_GPS_UBLOX::get_RTCMV3(const uint8_t *&bytes, uint16_t &len)
{
if (rtcm3_parser) {
len = rtcm3_parser->get_len(bytes);
return len > 0;
}
return false;
}
// clear previous RTCM3 packet
void AP_GPS_UBLOX::clear_RTCMV3(void)
{
if (rtcm3_parser) {
rtcm3_parser->clear_packet();
}
}
// ublox specific healthy checks
bool AP_GPS_UBLOX::is_healthy(void) const
{
if ((role == AP_GPS::GPS_ROLE_MB_BASE ||
role == AP_GPS::GPS_ROLE_MB_ROVER) &&
!supports_F9_config()) {
// need F9 or above for moving baseline
return false;
}
if (role == AP_GPS::GPS_ROLE_MB_BASE && rtcm3_parser == nullptr) {
// we haven't initialised RTCMv3 parser
return false;
}
return true;
}
// return true if GPS is capable of F9 config
bool AP_GPS_UBLOX::supports_F9_config(void) const
{
return _hardware_generation >= UBLOX_F9 && _hardware_generation != UBLOX_UNKNOWN_HARDWARE_GENERATION;
}
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