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AP_GPS: removed the old DroneCAN Fix message

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only send/process Fix2 message, saving bus bandwidth and flash space
This commit is contained in:
Andrew Tridgell 2022-09-27 14:53:54 +10:00
parent b8042d57de
commit fde5c35d35
2 changed files with 0 additions and 133 deletions
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131
libraries/AP_GPS/AP_GPS_UAVCAN.cpp
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@ -27,7 +27,6 @@
#include <AP_Logger/AP_Logger.h> #include <AP_Logger/AP_Logger.h>
#include <uavcan/equipment/gnss/Fix.hpp>
#include <uavcan/equipment/gnss/Fix2.hpp> #include <uavcan/equipment/gnss/Fix2.hpp>
#include <uavcan/equipment/gnss/Auxiliary.hpp> #include <uavcan/equipment/gnss/Auxiliary.hpp>
#include <ardupilot/gnss/Heading.hpp> #include <ardupilot/gnss/Heading.hpp>
@ -60,7 +59,6 @@ extern const AP_HAL::HAL& hal;
#define LOG_TAG "GPS" #define LOG_TAG "GPS"
UC_REGISTRY_BINDER(FixCb, uavcan::equipment::gnss::Fix);
UC_REGISTRY_BINDER(Fix2Cb, uavcan::equipment::gnss::Fix2); UC_REGISTRY_BINDER(Fix2Cb, uavcan::equipment::gnss::Fix2);
UC_REGISTRY_BINDER(AuxCb, uavcan::equipment::gnss::Auxiliary); UC_REGISTRY_BINDER(AuxCb, uavcan::equipment::gnss::Auxiliary);
UC_REGISTRY_BINDER(HeadingCb, ardupilot::gnss::Heading); UC_REGISTRY_BINDER(HeadingCb, ardupilot::gnss::Heading);
@ -110,16 +108,6 @@ void AP_GPS_UAVCAN::subscribe_msgs(AP_UAVCAN* ap_uavcan)
auto* node = ap_uavcan->get_node(); auto* node = ap_uavcan->get_node();
uavcan::Subscriber<uavcan::equipment::gnss::Fix, FixCb> *gnss_fix;
gnss_fix = new uavcan::Subscriber<uavcan::equipment::gnss::Fix, FixCb>(*node);
if (gnss_fix == nullptr) {
AP_BoardConfig::allocation_error("gnss_fix");
}
const int gnss_fix_start_res = gnss_fix->start(FixCb(ap_uavcan, &handle_fix_msg_trampoline));
if (gnss_fix_start_res < 0) {
AP_HAL::panic("UAVCAN GNSS subscriber start problem\n\r");
}
uavcan::Subscriber<uavcan::equipment::gnss::Fix2, Fix2Cb> *gnss_fix2; uavcan::Subscriber<uavcan::equipment::gnss::Fix2, Fix2Cb> *gnss_fix2;
gnss_fix2 = new uavcan::Subscriber<uavcan::equipment::gnss::Fix2, Fix2Cb>(*node); gnss_fix2 = new uavcan::Subscriber<uavcan::equipment::gnss::Fix2, Fix2Cb>(*node);
if (gnss_fix2 == nullptr) { if (gnss_fix2 == nullptr) {
@ -394,115 +382,6 @@ void AP_GPS_UAVCAN::handle_velocity(const float vx, const float vy, const float
} }
} }
void AP_GPS_UAVCAN::handle_fix_msg(const FixCb &cb)
{
if (seen_fix2) {
// use Fix2 instead
return;
}
bool process = false;
WITH_SEMAPHORE(sem);
if (cb.msg->status == uavcan::equipment::gnss::Fix::STATUS_NO_FIX) {
interim_state.status = AP_GPS::GPS_Status::NO_FIX;
} else {
if (cb.msg->status == uavcan::equipment::gnss::Fix::STATUS_TIME_ONLY) {
interim_state.status = AP_GPS::GPS_Status::NO_FIX;
} else if (cb.msg->status == uavcan::equipment::gnss::Fix::STATUS_2D_FIX) {
interim_state.status = AP_GPS::GPS_Status::GPS_OK_FIX_2D;
process = true;
} else if (cb.msg->status == uavcan::equipment::gnss::Fix::STATUS_3D_FIX) {
interim_state.status = AP_GPS::GPS_Status::GPS_OK_FIX_3D;
process = true;
}
if (cb.msg->gnss_time_standard == uavcan::equipment::gnss::Fix::GNSS_TIME_STANDARD_UTC) {
uint64_t epoch_ms = uavcan::UtcTime(cb.msg->gnss_timestamp).toUSec();
if (epoch_ms != 0) {
epoch_ms /= 1000;
uint64_t gps_ms = epoch_ms - UNIX_OFFSET_MSEC;
interim_state.time_week = (uint16_t)(gps_ms / AP_MSEC_PER_WEEK);
interim_state.time_week_ms = (uint32_t)(gps_ms - (interim_state.time_week) * AP_MSEC_PER_WEEK);
}
}
}
if (process) {
Location loc = { };
loc.lat = cb.msg->latitude_deg_1e8 / 10;
loc.lng = cb.msg->longitude_deg_1e8 / 10;
loc.alt = cb.msg->height_msl_mm / 10;
interim_state.have_undulation = true;
interim_state.undulation = (cb.msg->height_msl_mm - cb.msg->height_ellipsoid_mm) * 0.001;
interim_state.location = loc;
handle_velocity(cb.msg->ned_velocity[0], cb.msg->ned_velocity[1], cb.msg->ned_velocity[2]);
float pos_cov[9];
cb.msg->position_covariance.unpackSquareMatrix(pos_cov);
if (!uavcan::isNaN(pos_cov[8])) {
if (pos_cov[8] > 0) {
interim_state.vertical_accuracy = sqrtf(pos_cov[8]);
interim_state.have_vertical_accuracy = true;
} else {
interim_state.have_vertical_accuracy = false;
}
} else {
interim_state.have_vertical_accuracy = false;
}
const float horizontal_pos_variance = MAX(pos_cov[0], pos_cov[4]);
if (!uavcan::isNaN(horizontal_pos_variance)) {
if (horizontal_pos_variance > 0) {
interim_state.horizontal_accuracy = sqrtf(horizontal_pos_variance);
interim_state.have_horizontal_accuracy = true;
} else {
interim_state.have_horizontal_accuracy = false;
}
} else {
interim_state.have_horizontal_accuracy = false;
}
float vel_cov[9];
cb.msg->velocity_covariance.unpackSquareMatrix(vel_cov);
if (!uavcan::isNaN(vel_cov[0])) {
interim_state.speed_accuracy = sqrtf((vel_cov[0] + vel_cov[4] + vel_cov[8]) / 3.0);
interim_state.have_speed_accuracy = true;
} else {
interim_state.have_speed_accuracy = false;
}
interim_state.num_sats = cb.msg->sats_used;
} else {
interim_state.have_vertical_velocity = false;
interim_state.have_vertical_accuracy = false;
interim_state.have_horizontal_accuracy = false;
interim_state.have_speed_accuracy = false;
interim_state.num_sats = 0;
}
if (!seen_aux) {
// if we haven't seen an Aux message then populate vdop and
// hdop from pdop. Some GPS modules don't provide the Aux message
interim_state.hdop = interim_state.vdop = cb.msg->pdop * 100.0;
}
interim_state.last_gps_time_ms = AP_HAL::millis();
_new_data = true;
if (!seen_message) {
if (interim_state.status == AP_GPS::GPS_Status::NO_GPS) {
// the first time we see a fix message we change from
// NO_GPS to NO_FIX, indicating to user that a UAVCAN GPS
// has been seen
interim_state.status = AP_GPS::GPS_Status::NO_FIX;
}
seen_message = true;
}
}
void AP_GPS_UAVCAN::handle_fix2_msg(const Fix2Cb &cb) void AP_GPS_UAVCAN::handle_fix2_msg(const Fix2Cb &cb)
{ {
bool process = false; bool process = false;
@ -759,16 +638,6 @@ void AP_GPS_UAVCAN::clear_RTCMV3(void)
#endif // GPS_MOVING_BASELINE #endif // GPS_MOVING_BASELINE
void AP_GPS_UAVCAN::handle_fix_msg_trampoline(AP_UAVCAN* ap_uavcan, uint8_t node_id, const FixCb &cb)
{
WITH_SEMAPHORE(_sem_registry);
AP_GPS_UAVCAN* driver = get_uavcan_backend(ap_uavcan, node_id);
if (driver != nullptr) {
driver->handle_fix_msg(cb);
}
}
void AP_GPS_UAVCAN::handle_fix2_msg_trampoline(AP_UAVCAN* ap_uavcan, uint8_t node_id, const Fix2Cb &cb) void AP_GPS_UAVCAN::handle_fix2_msg_trampoline(AP_UAVCAN* ap_uavcan, uint8_t node_id, const Fix2Cb &cb)
{ {
WITH_SEMAPHORE(_sem_registry); WITH_SEMAPHORE(_sem_registry);

2
libraries/AP_GPS/AP_GPS_UAVCAN.h
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@ -53,7 +53,6 @@ public:
static void subscribe_msgs(AP_UAVCAN* ap_uavcan); static void subscribe_msgs(AP_UAVCAN* ap_uavcan);
static AP_GPS_Backend* probe(AP_GPS &_gps, AP_GPS::GPS_State &_state); static AP_GPS_Backend* probe(AP_GPS &_gps, AP_GPS::GPS_State &_state);
static void handle_fix_msg_trampoline(AP_UAVCAN* ap_uavcan, uint8_t node_id, const FixCb &cb);
static void handle_fix2_msg_trampoline(AP_UAVCAN* ap_uavcan, uint8_t node_id, const Fix2Cb &cb); static void handle_fix2_msg_trampoline(AP_UAVCAN* ap_uavcan, uint8_t node_id, const Fix2Cb &cb);
static void handle_aux_msg_trampoline(AP_UAVCAN* ap_uavcan, uint8_t node_id, const AuxCb &cb); static void handle_aux_msg_trampoline(AP_UAVCAN* ap_uavcan, uint8_t node_id, const AuxCb &cb);
static void handle_heading_msg_trampoline(AP_UAVCAN* ap_uavcan, uint8_t node_id, const HeadingCb &cb); static void handle_heading_msg_trampoline(AP_UAVCAN* ap_uavcan, uint8_t node_id, const HeadingCb &cb);
@ -87,7 +86,6 @@ private:
// returns true once configuration has finished // returns true once configuration has finished
bool do_config(void); bool do_config(void);
void handle_fix_msg(const FixCb &cb);
void handle_fix2_msg(const Fix2Cb &cb); void handle_fix2_msg(const Fix2Cb &cb);
void handle_aux_msg(const AuxCb &cb); void handle_aux_msg(const AuxCb &cb);
void handle_heading_msg(const HeadingCb &cb); void handle_heading_msg(const HeadingCb &cb);