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
The ublox driver will now continuosly poll for the settings from the GPS and correct any that are found to be in correct.
This status is then reported to the arming library as an additional arming check, allowing the user to be sure that the
gps is correctly configured before using it. If a user has a GPS2 configured that is not present they will fail the arming
checks until after they have disabled the second GPS.
2 new parameters were introduced as well:
-GPS_AUTO_CONFIG: Will not request any configuration packets to attempt to change them. (If the packet is recieved then
a update will be sent to it, but in testing this scenario never occured. This is set to 1 or 0 to change the setting.
(Defaults to 1 enabling auto config)
-GPS_GNSS_MODE2: Behaves the same way as GPS_GNSS_MODE but only applies to the second GPS.
GPS drivers are now allowed 2 seconds of non responsiveness before being unloaded
This commit changes the way libraries headers are included in source files:
- If the header is in the same directory the source belongs to, so the
notation '#include ""' is used with the path relative to the directory
containing the source.
- If the header is outside the directory containing the source, then we use
the notation '#include <>' with the path relative to libraries folder.
Some of the advantages of such approach:
- Only one search path for libraries headers.
- OSs like Windows may have a better lookup time.
DRIVER FEATURES:
- All logic for RTK vs Normal now lives inside Piksi
- Supports observation uplink through telem radio
- Supports full SBP packet logging
- Reports high-rate green blinking to indicate RTK lock.
- Switchable to accept only Float or Integer RTK locks.
THIS REQUIRES PIKSI FIRMWARE v0.14 OR HIGHER
- Uses Piksi's new Pseudo-Absolute-Positioning mode
- Onboard Piksi must have Pseudo-Absolute mode enabled
- Ground Station Piksi must have a surveyed location in settings
- Ground Station Piksi must send its location to Onboard Piksi.
NEXT STEPS REQUIRED:
- EKF needs to take higher accuracy GPS into account
- EKF needs to take GPS RTK height into account
- GCS needs to support sending SBP observation packets
--- MAVProxy patch forthcoming
This is a complete rewrite of the GPS driver structure, with a static
main driver and separate backend drivers. This will allow proper
support for multiple GPSes, and will allow parameters to be set on the
GPS object
Michael du Breuil
yaapu
Andrew Tridgell
Pierre Kancir
Tom Pittenger
Peter Barker
Siddharth Purohit
Dr.-Ing. Amilcar Do Carmo Lucas
Eugene Shamaev
Mathieu OTHACEHE
Allan Matthew
Michael du Breuil
Lucas De Marchi
Gustavo Jose de Sousa
Niels Joubert
Andrew Tridgell