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AP_GPS: removal of legacy UAVCAN support

mission-4.1.18
Eugene Shamaev 8 years ago committed by Andrew Tridgell
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e8117f5f46
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8130d85b42
3 changed files with 0 additions and 141 deletions
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  1. 1
      libraries/AP_GPS/AP_GPS.cpp
  2. 99
      libraries/AP_GPS/AP_GPS_PX4.cpp
  3. 41
      libraries/AP_GPS/AP_GPS_PX4.h

1
libraries/AP_GPS/AP_GPS.cpp
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@ -27,7 +27,6 @@ @@ -27,7 +27,6 @@
#include "AP_GPS_MTK.h"
#include "AP_GPS_MTK19.h"
#include "AP_GPS_NMEA.h"
#include "AP_GPS_PX4.h"
#include "AP_GPS_QURT.h"
#include "AP_GPS_SBF.h"
#include "AP_GPS_SBP.h"

99
libraries/AP_GPS/AP_GPS_PX4.cpp
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@ -1,99 +0,0 @@ @@ -1,99 +0,0 @@
/*
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/>.
*/
// GPS proxy driver for APM on PX4 platforms
//
// This driver subscribes on PX4s vehicle_gps_position topic and presents the data received to APM.
// The publisher could be an UAVCAN GNSS module like http://docs.zubax.com/Zubax_GNSS, or any other GNSS
// hardware supported by the PX4 ecosystem.
//
// Code by Holger Steinhaus
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#include "AP_GPS_PX4.h"
#include <uORB/uORB.h>
#include <cmath>
extern const AP_HAL::HAL& hal;
AP_GPS_PX4::AP_GPS_PX4(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port) :
AP_GPS_Backend(_gps, _state, _port)
{
_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
}
AP_GPS_PX4::~AP_GPS_PX4()
{
orb_unsubscribe(_gps_sub);
}
// update internal state if new GPS information is available
bool
AP_GPS_PX4::read(void)
{
bool updated = false;
orb_check(_gps_sub, &updated);
if (updated) {
if (OK == orb_copy(ORB_ID(vehicle_gps_position), _gps_sub, &_gps_pos)) {
state.last_gps_time_ms = AP_HAL::millis();
state.status = (AP_GPS::GPS_Status) (_gps_pos.fix_type | AP_GPS::NO_FIX);
state.num_sats = _gps_pos.satellites_used;
state.hdop = uint16_t(_gps_pos.eph*100.0f + .5f);
if (_gps_pos.fix_type >= 2) {
state.location.lat = _gps_pos.lat;
state.location.lng = _gps_pos.lon;
state.location.alt = _gps_pos.alt/10;
state.ground_speed = _gps_pos.vel_m_s;
state.ground_course = wrap_360(degrees(_gps_pos.cog_rad));
state.hdop = _gps_pos.eph*100;
// convert epoch timestamp back to gps epoch - evil hack until we get the genuine
// raw week information (or APM switches to Posix epoch ;-) )
const uint64_t posix_offset = 3657ULL * 24 * 3600 * 1000 - GPS_LEAPSECONDS_MILLIS;
const uint64_t ms_per_week = 7ULL * 24 * 3600 * 1000;
uint64_t epoch_ms = _gps_pos.time_utc_usec/1000;
uint64_t gps_ms = epoch_ms - posix_offset;
state.time_week = (uint16_t)(gps_ms / ms_per_week);
state.time_week_ms = (uint32_t)(gps_ms - (state.time_week) * ms_per_week);
if (_gps_pos.time_utc_usec == 0) {
// This is a work-around for https://github.com/PX4/Firmware/issues/1474
// reject position reports with invalid time, as APM adjusts it's clock after the first lock has been acquired
state.status = AP_GPS::NO_FIX;
}
}
if (_gps_pos.fix_type >= 3) {
state.have_vertical_velocity = _gps_pos.vel_ned_valid;
state.velocity.x = _gps_pos.vel_n_m_s;
state.velocity.y = _gps_pos.vel_e_m_s;
state.velocity.z = _gps_pos.vel_d_m_s;
state.speed_accuracy = _gps_pos.s_variance_m_s;
state.have_speed_accuracy = true;
}
else {
state.have_vertical_velocity = false;
}
}
}
return updated;
}
#endif

41
libraries/AP_GPS/AP_GPS_PX4.h
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@ -1,41 +0,0 @@ @@ -1,41 +0,0 @@
/*
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/>.
*/
//
// GPS proxy driver for APM on PX4 platforms
// Code by Holger Steinhaus
//
#pragma once
#include <AP_HAL/AP_HAL.h>
#include "AP_GPS.h"
#include "GPS_Backend.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#include <modules/uORB/topics/vehicle_gps_position.h>
class AP_GPS_PX4 : public AP_GPS_Backend {
public:
AP_GPS_PX4(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port);
~AP_GPS_PX4();
bool read();
private:
int _gps_sub;
struct vehicle_gps_position_s _gps_pos;
};
#endif // CONFIG_HAL_BOARD
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