aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_GPS: added support for MSP GPS sensors

Browse Source
This commit is contained in:
yaapu 2020-09-03 11:15:35 +02:00 committed by Andrew Tridgell
parent 266b747ffc
commit 85b61d6bf3
6 changed files with 185 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

23
libraries/AP_GPS/AP_GPS.cpp
View File

@ -35,6 +35,7 @@
#include "AP_GPS_SIRF.h"
#include "AP_GPS_UBLOX.h"
#include "AP_GPS_MAV.h"
#include "AP_GPS_MSP.h"
#include "GPS_Backend.h"
#if HAL_ENABLE_LIBUAVCAN_DRIVERS
@ -73,7 +74,7 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
// @Param: TYPE
// @DisplayName: GPS type
// @Description: GPS type
// @Values: 0:None,1:AUTO,2:uBlox,3:MTK,4:MTK19,5:NMEA,6:SiRF,7:HIL,8:SwiftNav,9:UAVCAN,10:SBF,11:GSOF,13:ERB,14:MAV,15:NOVA,16:HemisphereNMEA,17:uBlox-MovingBaseline-Base,18:uBlox-MovingBaseline-Rover
// @Values: 0:None,1:AUTO,2:uBlox,3:MTK,4:MTK19,5:NMEA,6:SiRF,7:HIL,8:SwiftNav,9:UAVCAN,10:SBF,11:GSOF,13:ERB,14:MAV,15:NOVA,16:HemisphereNMEA,17:uBlox-MovingBaseline-Base,18:uBlox-MovingBaseline-Rover,19:MSP
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("TYPE", 0, AP_GPS, _type[0], HAL_GPS_TYPE_DEFAULT),
@ -82,7 +83,7 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
// @Param: TYPE2
// @DisplayName: 2nd GPS type
// @Description: GPS type of 2nd GPS
// @Values: 0:None,1:AUTO,2:uBlox,3:MTK,4:MTK19,5:NMEA,6:SiRF,7:HIL,8:SwiftNav,9:UAVCAN,10:SBF,11:GSOF,13:ERB,14:MAV,15:NOVA,16:HemisphereNMEA,17:uBlox-MovingBaseline-Base,18:uBlox-MovingBaseline-Rover
// @Values: 0:None,1:AUTO,2:uBlox,3:MTK,4:MTK19,5:NMEA,6:SiRF,7:HIL,8:SwiftNav,9:UAVCAN,10:SBF,11:GSOF,13:ERB,14:MAV,15:NOVA,16:HemisphereNMEA,17:uBlox-MovingBaseline-Base,18:uBlox-MovingBaseline-Rover,19:MSP
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("TYPE2", 1, AP_GPS, _type[1], 0),
@ -344,6 +345,7 @@ bool AP_GPS::needs_uart(GPS_Type type) const
case GPS_TYPE_HIL:
case GPS_TYPE_UAVCAN:
case GPS_TYPE_MAV:
case GPS_TYPE_MSP:
return false;
default:
break;
@ -515,6 +517,12 @@ void AP_GPS::detect_instance(uint8_t instance)
goto found_gps;
#endif
return; // We don't do anything here if UAVCAN is not supported
#if HAL_MSP_GPS_ENABLED
case GPS_TYPE_MSP:
dstate->auto_detected_baud = false; // specified, not detected
new_gps = new AP_GPS_MSP(*this, state[instance], nullptr);
goto found_gps;
#endif
default:
break;
}
@ -1020,6 +1028,17 @@ void AP_GPS::handle_msg(const mavlink_message_t &msg)
}
}
#if HAL_MSP_GPS_ENABLED
void AP_GPS::handle_msp(const MSP::msp_gps_data_message_t &pkt)
{
for (uint8_t i=0; i<num_instances; i++) {
if (drivers[i] != nullptr && _type[i] == GPS_TYPE_MSP) {
drivers[i]->handle_msp(pkt);
}
}
}
#endif // HAL_MSP_GPS_ENABLED
/*
set HIL (hardware in the loop) status for a GPS instance
*/

10
libraries/AP_GPS/AP_GPS.h
View File

@ -21,6 +21,7 @@
#include <AP_Param/AP_Param.h>
#include "GPS_detect_state.h"
#include <AP_SerialManager/AP_SerialManager.h>
#include <AP_MSP/msp.h>
/**
maximum number of GPS instances available on this platform. If more
@ -46,6 +47,10 @@
#define GPS_UBLOX_MOVING_BASELINE !HAL_MINIMIZE_FEATURES && GPS_MAX_RECEIVERS>1
#endif
#ifndef HAL_MSP_GPS_ENABLED
#define HAL_MSP_GPS_ENABLED HAL_MSP_ENABLED && !HAL_MINIMIZE_FEATURES
#endif
class AP_GPS_Backend;
/// @class AP_GPS
@ -55,6 +60,7 @@ class AP_GPS
friend class AP_GPS_ERB;
friend class AP_GPS_GSOF;
friend class AP_GPS_MAV;
friend class AP_GPS_MSP;
friend class AP_GPS_MTK;
friend class AP_GPS_MTK19;
friend class AP_GPS_NMEA;
@ -103,6 +109,7 @@ public:
GPS_TYPE_HEMI = 16, // hemisphere NMEA
GPS_TYPE_UBLOX_RTK_BASE = 17,
GPS_TYPE_UBLOX_RTK_ROVER = 18,
GPS_TYPE_MSP = 19,
};
/// GPS status codes
@ -198,6 +205,9 @@ public:
// Pass mavlink data to message handlers (for MAV type)
void handle_msg(const mavlink_message_t &msg);
#if HAL_MSP_GPS_ENABLED
void handle_msp(const MSP::msp_gps_data_message_t &pkt);
#endif
// Accessor functions

100
libraries/AP_GPS/AP_GPS_MSP.cpp Normal file
View File

@ -0,0 +1,100 @@
/*
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/>.
*/
//
// MSP GPS driver
//
#include <AP_MSP/msp.h>
#include "AP_GPS_MSP.h"
#if HAL_MSP_GPS_ENABLED
AP_GPS_MSP::AP_GPS_MSP(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port) :
AP_GPS_Backend(_gps, _state, _port)
{
}
// Reading does nothing in this class; we simply return whether or not
// the latest reading has been consumed. By calling this function we assume
// the caller is consuming the new data;
bool AP_GPS_MSP::read(void)
{
if (new_data) {
new_data = false;
return true;
}
return false;
}
// handles an incoming msp message and sets
// corresponding gps data appropriately;
void AP_GPS_MSP::handle_msp(const MSP::msp_gps_data_message_t &pkt)
{
check_new_itow(pkt.ms_tow, sizeof(pkt));
state.time_week = pkt.gps_week;
state.time_week_ms = pkt.ms_tow;
state.status = (AP_GPS::GPS_Status)pkt.fix_type;
state.num_sats = pkt.satellites_in_view;
Location loc = {};
loc.lat = pkt.latitude;
loc.lng = pkt.longitude;
loc.alt = pkt.msl_altitude;
state.location = loc;
state.hdop = pkt.hdop;
state.vdop = GPS_UNKNOWN_DOP;
state.have_vertical_velocity = true;
Vector3f vel;
vel.x = pkt.ned_vel_north * 0.01;
vel.y = pkt.ned_vel_east * 0.01;
vel.z = pkt.ned_vel_down * 0.01;
state.velocity = vel;
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.have_horizontal_accuracy = true;
state.have_vertical_accuracy = true;
state.have_vertical_velocity = true;
state.horizontal_accuracy = pkt.horizontal_pos_accuracy * 0.01;
state.vertical_accuracy = pkt.vertical_pos_accuracy * 0.01;
state.speed_accuracy = pkt.horizontal_vel_accuracy * 0.01;
if (pkt.true_yaw != 65535) {
state.gps_yaw = wrap_360(pkt.true_yaw*0.01);
state.have_gps_yaw = true;
}
state.last_gps_time_ms = AP_HAL::millis();
new_data = pkt.fix_type>0;
}
/*
return velocity lag in seconds
*/
bool AP_GPS_MSP::get_lag(float &lag_sec) const
{
// measured on Matek M8Q
lag_sec = 0.11;
return true;
}
#endif // HAL_MSP_GPS_ENABLED

45
libraries/AP_GPS/AP_GPS_MSP.h Normal file
View File

@ -0,0 +1,45 @@
/*
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/>.
*/
//
// MSP GPS driver which accepts gps position data from an external source
//
#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include "AP_GPS.h"
#include "GPS_Backend.h"
#if HAL_MSP_GPS_ENABLED
class AP_GPS_MSP : public AP_GPS_Backend
{
public:
AP_GPS_MSP(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port);
bool read() override;
void handle_msp(const MSP::msp_gps_data_message_t &pkt) override;
const char *name() const override { return "MSP"; }
bool get_lag(float &lag_sec) const override;
private:
bool new_data;
};
#endif // HAL_MSP_GPS_ENABLED

7
libraries/AP_GPS/GPS_Backend.cpp
View File

@ -252,7 +252,12 @@ void AP_GPS_Backend::check_new_itow(uint32_t itow, uint32_t msg_length)
const uint32_t gps_min_period_ms = 50;
// get the time the packet arrived on the UART
uint64_t uart_us = port->receive_time_constraint_us(msg_length);
uint64_t uart_us;
if (port) {
uart_us = port->receive_time_constraint_us(msg_length);
} else {
uart_us = AP_HAL::micros64();
}
uint32_t now = AP_HAL::millis();
uint32_t dt_ms = now - _last_ms;

3
libraries/AP_GPS/GPS_Backend.h
View File

@ -51,6 +51,9 @@ public:
virtual void broadcast_configuration_failure_reason(void) const { return ; }
virtual void handle_msg(const mavlink_message_t &msg) { return ; }
#if HAL_MSP_GPS_ENABLED
virtual void handle_msp(const MSP::msp_gps_data_message_t &pkt) { return; }
#endif
// driver specific lag, returns true if the driver is confident in the provided lag
virtual bool get_lag(float &lag) const { lag = 0.2f; return true; }