mirror of https://github.com/ArduPilot/ardupilot
112 lines
2.8 KiB
C++
112 lines
2.8 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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#include <FastSerial.h>
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#define GPS_DEBUGGING 0
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#if GPS_DEBUGGING
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#include <FastSerial.h>
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# define Debug(fmt, args...) do {Serial.printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__ , ##args); delay(0); } while(0)
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#else
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# define Debug(fmt, args...)
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#endif
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#include <AP_Common.h>
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#include <AP_Math.h>
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#include "GPS.h"
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#if defined(ARDUINO) && ARDUINO >= 100
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#include "Arduino.h"
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#else
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#include "WProgram.h"
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#endif
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void
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GPS::update(void)
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{
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bool result;
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uint32_t tnow;
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// call the GPS driver to process incoming data
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result = read();
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tnow = millis();
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// if we did not get a message, and the idle timer has expired, re-init
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if (!result) {
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if ((tnow - _idleTimer) > idleTimeout) {
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Debug("gps read timeout %lu %lu", (unsigned long)tnow, (unsigned long)_idleTimer);
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_status = NO_GPS;
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init(_nav_setting);
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// reset the idle timer
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_idleTimer = tnow;
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}
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} else {
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// we got a message, update our status correspondingly
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_status = fix ? GPS_OK : NO_FIX;
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valid_read = true;
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new_data = true;
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// reset the idle timer
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_idleTimer = tnow;
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if (_status == GPS_OK) {
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// update our acceleration
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float deltat = 1.0e-3 * (_idleTimer - last_fix_time);
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float deltav = 1.0e-2 * ((float)ground_speed - (float)_last_ground_speed);
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float gps_heading = ToRad(ground_course * 0.01);
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float gps_speed = ground_speed * 0.01;
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float sin_heading, cos_heading;
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cos_heading = cos(gps_heading);
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sin_heading = sin(gps_heading);
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last_fix_time = _idleTimer;
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_last_ground_speed = ground_speed;
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_velocity_north = gps_speed * cos_heading;
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_velocity_east = gps_speed * sin_heading;
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if (deltat > 2.0 || deltat == 0) {
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// we didn't get a fix for 2 seconds - set
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// acceleration to zero, as the estimate will be too
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// far out
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_acceleration = 0;
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_acceleration_north = 0;
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_acceleration_east = 0;
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} else {
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// calculate a mildly smoothed acceleration value
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_acceleration = (0.7 * _acceleration) + (0.3 * (deltav/deltat));
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// calculate the components, to save time in the AHRS code
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_acceleration_north = _acceleration * cos_heading;
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_acceleration_east = _acceleration * sin_heading;
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}
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}
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}
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}
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void
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GPS::setHIL(uint32_t _time, float _latitude, float _longitude, float _altitude,
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float _ground_speed, float _ground_course, float _speed_3d, uint8_t _num_sats)
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{
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}
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// XXX this is probably the wrong way to do it, too
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void
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GPS::_error(const char *msg)
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{
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Serial.println(msg);
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}
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///
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/// write a block of configuration data to a GPS
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///
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void GPS::_write_progstr_block(Stream *_fs, const prog_char *pstr, uint8_t size)
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{
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while (size--) {
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_fs->write(pgm_read_byte(pstr++));
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}
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}
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