this changes yaw handling in a few ways:
- GPS yaw now has a timestamp associated with the yaw separate from
the timestamp associated with the GPS fix
- we no longer force the primary to change to the UBLOX MB rover when
it has a GPS yaw. This means we don't change GPS primary due to GPS
loss, which keeps the GPS more stable. It also increases accuracy
as the rover is always less accurate in position and velocity than
the base
- now we force the primary to be the MB base if the other GPS is a
rover and the base has GPS lock
Also swaps to using an AP_Enum for the SBAS type, and fixes up the fact
that the prearm/failure reasons should be using the config step, rather
then the init blob index
this improves the display on the GCS when the GPS has not yet been
found. This is particularly important after a reboot, as otherwise the
GCS may display stale information from the previous boot
this detects GPS data lag, and if 5 samples in a row are lagged by
more than 50ms beyond the expected lag for the GPS then we declare the
GPS as unhealthy.
This is useful to detect users who have asked for more data from the
GPS then it can send at the baudrate that is being used. The case that
led to this path was a F9 GPS with GPS_RAW_DATA=1 at 115200 baud. In
that case the UART data is quickly lagged by over 1s
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
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
The NMEA GPHDT sentence can be used to determine the vehicles bearing
instead of a compass even when the vehicle is stationary. This type
of GPS is normally very expensive and does the bearing using some sort
of phase ambituity algorithm.
bugobliterator
Peter Barker
Andrew Tridgell
Michael du Breuil
Patrick José Pereira
Iampete1
yaapu
Tom Pittenger
Pierre Kancir
Grant Morphett