AP_GPS: enable ublox moving baseline compilation option

disable for HAL_MINIMIZE_FEATURES and if max receivers 1. This fixes
the f103-GPS AP_Periph build

libraries/AP_GPS/AP_GPS.h

@@ -42,6 +42,10 @@
 
 #define UNIX_OFFSET_MSEC (17000ULL * 86400ULL + 52ULL * 10ULL * AP_MSEC_PER_WEEK - GPS_LEAPSECONDS_MILLIS)
 
+#ifndef GPS_UBLOX_MOVING_BASELINE
+#define GPS_UBLOX_MOVING_BASELINE !HAL_MINIMIZE_FEATURES && GPS_MAX_RECEIVERS>1
+#endif
+
 class AP_GPS_Backend;
 
 /// @class AP_GPS

libraries/AP_GPS/AP_GPS_UBLOX.cpp

@@ -85,6 +85,7 @@ AP_GPS_UBLOX::AP_GPS_UBLOX(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UART
     _unconfigured_messages |= CONFIG_TP5;
 #endif
 
+#if GPS_UBLOX_MOVING_BASELINE
     if (role == AP_GPS::GPS_ROLE_MB_BASE && !mb_use_uart2()) {
         rtcm3_parser = new RTCM3_Parser;
         if (rtcm3_parser == nullptr) {
@@ -96,15 +97,19 @@ AP_GPS_UBLOX::AP_GPS_UBLOX(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UART
         _unconfigured_messages |= CONFIG_RTK_MOVBASE;
         state.gps_yaw_configured = true;
     }
+#endif
 }
 
 AP_GPS_UBLOX::~AP_GPS_UBLOX()
 {
+#if GPS_UBLOX_MOVING_BASELINE
     if (rtcm3_parser) {
         delete rtcm3_parser;
     }
+#endif
 }
 
+#if GPS_UBLOX_MOVING_BASELINE
 /*
   config for F9 GPS in moving baseline base role
   See ZED-F9P integration manual section 3.1.5.6.1
@@ -216,6 +221,7 @@ const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_MB_Rover_uart2[] {
  { ConfigKey::MSGOUT_RTCM_3X_TYPE1127_UART1, 0},
  { ConfigKey::MSGOUT_RTCM_3X_TYPE1230_UART1, 0},
 };
+#endif // GPS_UBLOX_MOVING_BASELINE
 
 
 void
@@ -367,6 +373,7 @@ AP_GPS_UBLOX::_request_next_config(void)
         }
         break;
     case STEP_RTK_MOVBASE:
+#if GPS_UBLOX_MOVING_BASELINE
         if (supports_F9_config()) {
             static_assert(sizeof(active_config.done_mask)*8 >= ARRAY_SIZE(config_MB_Base_uart1), "done_mask too small, base1");
             static_assert(sizeof(active_config.done_mask)*8 >= ARRAY_SIZE(config_MB_Base_uart2), "done_mask too small, base2");
@@ -387,6 +394,7 @@ AP_GPS_UBLOX::_request_next_config(void)
                 }
             }
         }
+#endif
         break;
     default:
         // this case should never be reached, do a full reset if it is hit
@@ -580,6 +588,7 @@ AP_GPS_UBLOX::read(void)
         // read the next byte
         data = port->read();
 
+#if GPS_UBLOX_MOVING_BASELINE
         if (rtcm3_parser) {
             if (rtcm3_parser->read(data)) {
                 // we've found a RTCMv3 packet. We stop parsing at
@@ -591,6 +600,7 @@ AP_GPS_UBLOX::read(void)
                 break;
             }
         }
+#endif
 
 	reset:
         switch(_step) {
@@ -688,10 +698,12 @@ AP_GPS_UBLOX::read(void)
                 break;                                                  // bad checksum
             }
 
+#if GPS_UBLOX_MOVING_BASELINE
             if (rtcm3_parser) {
                 // this is a uBlox packet, discard any partial RTCMv3 state
                 rtcm3_parser->reset();
             }
+#endif
             if (_parse_gps()) {
                 parsed = true;
             }
@@ -860,6 +872,7 @@ uint8_t AP_GPS_UBLOX::config_key_size(ConfigKey key) const
  */
 int8_t AP_GPS_UBLOX::find_active_config_index(ConfigKey key) const
 {
+#if GPS_UBLOX_MOVING_BASELINE
     if (active_config.list == nullptr) {
         return -1;
     }
@@ -868,6 +881,7 @@ int8_t AP_GPS_UBLOX::find_active_config_index(ConfigKey key) const
             return (int8_t)i;
         }
     }
+#endif
     return -1;
 }
 
@@ -1124,6 +1138,7 @@ AP_GPS_UBLOX::_parse_gps(void)
                     default:
                         break;
                 }
+#if GPS_UBLOX_MOVING_BASELINE
                 // see if it is in active config list
                 int8_t cfg_idx = find_active_config_index(id);
                 if (cfg_idx >= 0) {
@@ -1142,6 +1157,7 @@ AP_GPS_UBLOX::_parse_gps(void)
                         }
                     }
                 }
+#endif // GPS_UBLOX_MOVING_BASELINE
 
                 // step over the value
                 uint8_t step_size = config_key_size(id);
@@ -1334,13 +1350,20 @@ AP_GPS_UBLOX::_parse_gps(void)
                                           static_cast<uint32_t>(RELPOSNED::carrSolnFloat);
 
             const Vector3f antenna_offset = offset0 - offset1;
-            const Vector3f antenna_tilt = AP::ahrs().get_rotation_body_to_ned() * antenna_offset;
             const float offset_dist = antenna_offset.length();
             const float rel_dist = _buffer.relposned.relPosLength * 0.01;
-            const float alt_error = _buffer.relposned.relPosD*0.01 + antenna_tilt.z;
             const float dist_error = offset_dist - rel_dist;
             const float strict_length_error_allowed = 0.2; // allow for up to 20% error
             const float min_separation = 0.05;
+            bool tilt_ok = true;
+            const float min_dist = MIN(offset_dist, rel_dist);
+#ifndef HAL_BUILD_AP_PERIPH
+            // when ahrs is available use it to constrain vertical component
+            const Vector3f antenna_tilt = AP::ahrs().get_rotation_body_to_ned() * antenna_offset;
+            const float alt_error = _buffer.relposned.relPosD*0.01 + antenna_tilt.z;
+            tilt_ok = fabsf(alt_error) < strict_length_error_allowed * min_dist;
+#endif
+
             _check_new_itow(_buffer.relposned.iTOW);
             if (_buffer.relposned.iTOW != _last_relposned_itow+200) {
                 // useful for looking at packet loss on links
@@ -1359,13 +1382,12 @@ AP_GPS_UBLOX::_parse_gps(void)
                      unsigned(_buffer.relposned.flags),
                      unsigned(_buffer.relposned.iTOW));
 
-            const float min_dist = MIN(offset_dist, rel_dist);
             if (((_buffer.relposned.flags & valid_mask) == valid_mask) &&
                 ((_buffer.relposned.flags & invalid_mask) == 0) &&
                 rel_dist > min_separation &&
                 offset_dist > min_separation &&
                 fabsf(dist_error) < strict_length_error_allowed * min_dist &&
-                fabsf(alt_error) < strict_length_error_allowed * min_dist) {
+                tilt_ok) {
                 float rotation_offset_rad;
                 const Vector3f diff = offset1 - offset0;
                 rotation_offset_rad = Vector2f(diff.x, diff.y).angle();
@@ -1692,6 +1714,7 @@ AP_GPS_UBLOX::_configure_valget(ConfigKey key)
 bool
 AP_GPS_UBLOX::_configure_config_set(const config_list *list, uint8_t count, uint32_t unconfig_bit)
 {
+#if GPS_UBLOX_MOVING_BASELINE
     active_config.list = list;
     active_config.count = count;
     active_config.done_mask = 0;
@@ -1709,6 +1732,9 @@ AP_GPS_UBLOX::_configure_config_set(const config_list *list, uint8_t count, uint
         memcpy(&buf[sizeof(msg)+i*sizeof(ConfigKey)], &list[i].key, sizeof(ConfigKey));
     }
     return _send_message(CLASS_CFG, MSG_CFG_VALGET, buf, sizeof(buf));
+#else
+    return false;
+#endif
 }
 
 /*
@@ -1867,6 +1893,7 @@ bool AP_GPS_UBLOX::get_lag(float &lag_sec) const
         // F9 lag not verified yet from flight log, but likely to be at least
         // as good as M8
         lag_sec = 0.12f;
+#if GPS_UBLOX_MOVING_BASELINE
         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
@@ -1874,6 +1901,7 @@ bool AP_GPS_UBLOX::get_lag(float &lag_sec) const
             // ensure that the EKF allocates a larger enough buffer
             lag_sec += 0.04;
         }
+#endif
         break;
     };
     return true;
@@ -1902,19 +1930,23 @@ void AP_GPS_UBLOX::_check_new_itow(uint32_t itow)
 // support for retrieving RTCMv3 data from a moving baseline base
 bool AP_GPS_UBLOX::get_RTCMV3(const uint8_t *&bytes, uint16_t &len)
 {
+#if GPS_UBLOX_MOVING_BASELINE
     if (rtcm3_parser) {
         len = rtcm3_parser->get_len(bytes);
         return len > 0;
     }
+#endif
     return false;
 }
 
 // clear previous RTCM3 packet
 void AP_GPS_UBLOX::clear_RTCMV3(void)
 {
+#if GPS_UBLOX_MOVING_BASELINE
     if (rtcm3_parser) {
         rtcm3_parser->clear_packet();
     }
+#endif
 }
 
 // ublox specific healthy checks
@@ -1926,6 +1958,7 @@ bool AP_GPS_UBLOX::is_healthy(void) const
         return true;
     }
 #endif
+#if GPS_UBLOX_MOVING_BASELINE
     if ((role == AP_GPS::GPS_ROLE_MB_BASE ||
         role == AP_GPS::GPS_ROLE_MB_ROVER) &&
         !supports_F9_config()) {
@@ -1936,6 +1969,7 @@ bool AP_GPS_UBLOX::is_healthy(void) const
         // we haven't initialised RTCMv3 parser
         return false;
     }
+#endif
     return true;
 }
 

libraries/AP_GPS/AP_GPS_UBLOX.h

@@ -739,10 +739,12 @@ private:
         return (uint8_t)(ubx_msg + (state.instance * UBX_MSG_TYPES));
     }
 
+#if GPS_UBLOX_MOVING_BASELINE
     // see if we should use uart2 for moving baseline config
     bool mb_use_uart2(void) const {
         return (driver_options() & unsigned(DRV_OPTIONS::MB_USE_UART2))?true:false;
     }
+#endif
 
     // structure for list of config key/value pairs for
     // specific configurations
@@ -765,6 +767,7 @@ private:
     // return true if GPS is capable of F9 config
     bool supports_F9_config(void) const;
 
+#if GPS_UBLOX_MOVING_BASELINE
     // config for moving baseline base
     static const config_list config_MB_Base_uart1[];
     static const config_list config_MB_Base_uart2[];
@@ -783,4 +786,5 @@ private:
 
     // RTCM3 parser for when in moving baseline base mode
     RTCM3_Parser *rtcm3_parser;
+#endif // GPS_UBLOX_MOVING_BASELINE
 };