ardupilot

Commit Graph

Author	SHA1	Message	Date
Andrew Tridgell	4aa10a6c30	AP_GPS: added force_disable_yaw() API	5 years ago
Andrew Tridgell	78858bbcdd	AP_GPS: switch ublox over to 230400 baud this ensures we have sufficient bandwidth for raw data	5 years ago
Andrew Tridgell	529bfe8fcd	AP_GPS: fixed issue with GPS selection for moving baseline when you have a moving baseline pair of ublox GPS modules and the rover GPS does not have full fixed RTK lock on the base GPS then we should not use it as our primary GPS as it's position and velocity can be badly affected by the attempts of the GPS to gain a fixed lock. This was observed in a flight with two F9P GPS, where the GPS velocity data from the rover GPS went way off when it lost full RTK lock. It's status stayed at 4, so it was selected as the primary GPS	5 years ago
Andrew Tridgell	f00392d567	AP_GPS: don't accept a zero GNSS timestamp from UAVCAN GPS this is needed for a bug in AP_Periph 1.0 which could briefly send a zero timestamp on first fix marked as a UTC time	5 years ago
Andrew Tridgell	4f591a338f	AP_GPS: use GCS_SEND_TEXT()	5 years ago
Andrew Tridgell	6347d0adb0	AP_GPS: leave uart2 config enabled when using uart2 MB setup	5 years ago
Andrew Tridgell	f3a5d915f3	AP_GPS: allow for larger average delta on MB rover than normal	5 years ago
Andrew Tridgell	36098c3221	AP_GPS: improved delay health threshold allow for missing frames without showing unhealthy on GCS	5 years ago
Andrew Tridgell	3397ed766d	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	5 years ago
Andrew Tridgell	ae2132d861	AP_GPS: added check for Z error in moving baseline ublox this ensures we don't get bad yaw from having the right distance but incorrect Z offset for the currently expected roll/pitch	5 years ago
Andrew Tridgell	7027eecd34	AP_GPS: added GPS_DRV_OPTIONS this allows for configuration of moving baseline with either uart1 or uart2 for the RTCM data. Using uart2 requires an extra cable between the two modules, but requires less uart bandwidth which is good when DMA channels are low. Using uart2 also avoids the rtcmv3 parser, which saves memory	5 years ago
Andrew Tridgell	9a6de209ab	AP_GPS: ensure that PVT and RELPOSNED msgs time align this ensures we wait until we have a matching PVT and RELPOSNED message before we report new data. If we stop receiving RELPOSNED messages then disable yaw support	5 years ago
Andrew Tridgell	3fbeae613b	AP_GPS: fixed moving baseline yaw calculation this reverts #13955 and instead applies the correct fix, which is to subtract the angle instead of adding.	5 years ago
Andrew Tridgell	077ab22767	AP_GPS: fixed AP_Periph build with gcc 9.x	5 years ago
Andrew Tridgell	4456732911	AP_GPS: fixed rotation of moving baseline GPS we were off by 180 degrees. Thanks to Jaime for noticing this!	5 years ago
Peter Barker	2b08af69bc	AP_GPS: fix dereference-of-nullptr warning from scan-build This is kind-of a false positive as this in practise could never be nullptr.	5 years ago
Andrew Tridgell	f00314a5d1	AP_GPS: removed dead blending code	5 years ago
Andrew Tridgell	9fa034d1de	AP_GPS: fixed antenna offset for blending we were accessing beyond the end of the antenna_offset array	5 years ago
Randy Mackay	a19634b9d2	AP_GPS: reduce POS param range to 5m and add increment	5 years ago
Andrew Tridgell	7efd5248ee	AP_GPS: added get_type() API	5 years ago
Andrew Tridgell	e59f32074d	AP_GPS: fixed yaw error when one GPS has zero position the M_PI correction was only valid for one zero side. Much simpler to always calculate difference	5 years ago
Andrew Tridgell	cf8becfa71	AP_GPS: make all semaphores recursive the cost is very similar and this prevents an easy coding error which can occur on less used code paths	5 years ago
Andrew Tridgell	f0d1d3fa90	AP_GPS: added get_semaphore()	5 years ago
Andrew Tridgell	db777c56b9	AP_GPS: provide yaw feedback in GPS_RAW_INT and GPS2_RAW allow GPS to display status of GPS yaw for moving baseline and NMEA	5 years ago
Andrew Tridgell	e40c570615	AP_GPS: faster config of moving baseline thanks to MdB for suggestion	5 years ago
Andrew Tridgell	e660532f67	AP_GPS: fixes from PR review	5 years ago
Andrew Tridgell	41289fe945	AP_GPS: adjust lag for MB RTK ublox rover will lag by about 40ms	5 years ago
Andrew Tridgell	b86c43aa66	AP_GPS: prefer RTK MB rover when it has yaw available this ensures that yaw data is time aligned with position and velocity data	5 years ago
Andrew Tridgell	261465ef96	AP_GPS: split out update_primary() from update() this makes the selection of primary GPS a lot clearer, with less nesting of if statements	5 years ago
Andrew Tridgell	93aaf98672	AP_GPS: added automatic u-blox moving baseline configuration this uses GPS_TYPE and GPS_TYPE2 to setup two u-blox F9 receivers in a RTK moving baseline configuration	5 years ago
Andrew Tridgell	71a0f3a1dc	AP_GPS: added RTCMv3 parser will be used for moving baseline support	5 years ago
Andrew Tridgell	6efbc484fd	AP_GPS: cope with UAVCAN GPS that don't provide Aux message thanks to @VadimZ for the suggestion	5 years ago
Michael du Breuil	8ca6535661	AP_GPS: Log SBF commanded disarms	5 years ago
Michael du Breuil	f8808022b8	AP_GPS: Check the driver logging health	5 years ago
Andrew Tridgell	379e3d60a1	AP_GPS: fixed sizes of config items	5 years ago
Michael du Breuil	63a6a1084c	AP_GPS: UBlox: Fix the assumption that all keys are 1 byte keys	5 years ago
Michael du Breuil	150a4edcf2	AP_GPS: UBlox fix not listing the time mode as a configuration reason	5 years ago
Andrew Tridgell	7bec9d87b4	AP_GPS: fixed TMODE config issue on non-F9 GPS thanks to Michel Pastor for reporting this	5 years ago
Andrew Tridgell	8aa781206d	AP_GPS: fixed signed/unsigned comparisons	5 years ago
Andrew Tridgell	b7c9391619	AP_GPS: support Fix2 message for UAVCAN this allows for RTK fix levels	5 years ago
Andrew Tridgell	632114d687	AP_GPS: support RTCMStream for RTCM injection on UAVCAN	5 years ago
Andrew Tridgell	6c31fb1bb6	AP_GPS: added automatic config of TMODE on F9 the Drotek F9 GPS ships with TMODE enabled, which means we don't get a 3D fix. This also adds the VALGET/VALSET msgs we will need for automatic moving baseline config	5 years ago
Michael du Breuil	d623da0de6	AP_GPS: Always send GPS2_RAW after we've seen the second GPS This significantly improves the GCS's ability to correctly display whats happening with the second GPS.	5 years ago
Michael du Breuil	5bafd7d72c	AP_GPS: Don't defeat the GCS message interval code	5 years ago
Andrew Tridgell	14cdac9202	AP_GPS: fixed GPS to UART mapping this allows for first GPS as UAVCAN and 2nd as UART. That is not possible currently unless you waste a uart	5 years ago
Andrew Tridgell	00260db65a	AP_GPS: fixed UAVCAN GPS status when disconnected this fixes the status reported for a UAVCAN GPS when the cable is unplugged. It should be "NO GPS", but was instead reporting "NO FIX". The user had no way to distinguish between not finding a CAN GPS at all and it not getting satellites thanks to CUAV for reporting	5 years ago
Andrew Tridgell	37fb028532	AP_GPS: improved checking for valid yaw for moving baseline and fixed check for carrSolnFixed	5 years ago
Michael du Breuil	2587b13ae7	AP_GPS: UBLOX: Parse RELPOSNED messages This does not yet: - validate the receiver configuration - manage timing out stale GPS heading info - relPosNormalized usage isn't clear, which may defeat the STRICT_LENGTH_CHECK	5 years ago
Andrew Tridgell	b5217412f9	AP_GPS: fixed a bug in handling corrupt u-blox packets when we have corrupt input due to loss of bytes on a UART we can end up with a u-blox packet with zero payload bytes. When that happens we need to bypass payload reading as otherwise we will end up keeping reading bytes until the driver resets at 4 seconds, causing a GPS outage. This was causing GPS outages every few hours in copters running 3.6.7, and was also reproduced in SITL using SIM_GPS_BYTELOSS.	5 years ago
Andrew Tridgell	9eb6c1be64	AP_GPS: use jitter correction on GPS_INPUT data this allows for more accurate timing when using GPS_INPUT for indoor positioning systems	5 years ago

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984 Commits (master)