Use NAV-PVT with ubx7 and ubx8 modules

This replaces NAV-SOL, NAV-POSLLH, NAV-VELNED and NAV-TIMEUTC.

src/drivers/gps/gps.cpp

@@ -299,7 +299,6 @@ GPS::task_main()
 			_report_gps_pos.alt = (int32_t)1200e3f;
 			_report_gps_pos.timestamp_variance = hrt_absolute_time();
 			_report_gps_pos.s_variance_m_s = 10.0f;
-			_report_gps_pos.p_variance_m = 10.0f;
 			_report_gps_pos.c_variance_rad = 0.1f;
 			_report_gps_pos.fix_type = 3;
 			_report_gps_pos.eph = 0.9f;

src/drivers/gps/ubx.cpp

@@ -95,7 +95,8 @@ UBX::UBX(const int &fd, struct vehicle_gps_position_s *gps_position, struct sate
 	_got_velned(false),
 	_disable_cmd_last(0),
 	_ack_waiting_msg(0),
-	_ubx_version(0)
+	_ubx_version(0),
+	_use_nav_pvt(false)
 {
 	decode_init();
 }
@@ -190,38 +191,45 @@ UBX::configure(unsigned &baudrate)
 
 	/* configure message rates */
 	/* the last argument is divisor for measurement rate (set by CFG RATE), i.e. 1 means 5Hz */
-	configure_message_rate(UBX_MSG_NAV_POSLLH, 1);
 
+	/* try to set rate for NAV-PVT */
+	/* (implemented for ubx7+ modules only, use NAV-SOL, NAV-POSLLH, NAV-VELNED and NAV-TIMEUTC for ubx6) */
+	configure_message_rate(UBX_MSG_NAV_PVT, 1);
 	if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
-		return 1;
-	}
-
-	configure_message_rate(UBX_MSG_NAV_TIMEUTC, 5);
-
-	if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
-		return 1;
+		_use_nav_pvt = false;
+	} else {
+		_use_nav_pvt = true;
 	}
+	UBX_WARN("%susing NAV-PVT", _use_nav_pvt ? "" : "not ");
 
-	configure_message_rate(UBX_MSG_NAV_SOL, 1);
+	if (!_use_nav_pvt) {
+		configure_message_rate(UBX_MSG_NAV_TIMEUTC, 5);
+		if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
+			return 1;
+		}
 
-	if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
-		return 1;
-	}
+		configure_message_rate(UBX_MSG_NAV_POSLLH, 1);
+		if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
+			return 1;
+		}
 
-	configure_message_rate(UBX_MSG_NAV_VELNED, 1);
+		configure_message_rate(UBX_MSG_NAV_SOL, 1);
+		if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
+			return 1;
+		}
 
-	if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
-		return 1;
+		configure_message_rate(UBX_MSG_NAV_VELNED, 1);
+		if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
+			return 1;
+		}
 	}
 
 	configure_message_rate(UBX_MSG_NAV_SVINFO, (_satellite_info != nullptr) ? 5 : 0);
-
 	if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
 		return 1;
 	}
 
 	configure_message_rate(UBX_MSG_MON_HW, 1);
-
 	if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
 		return 1;
 	}
@@ -454,11 +462,23 @@ UBX::payload_rx_init()
 	_rx_state = UBX_RXMSG_HANDLE;	// handle by default
 
 	switch (_rx_msg) {
+	case UBX_MSG_NAV_PVT:
+		if (   (_rx_payload_length != UBX_PAYLOAD_RX_NAV_PVT_SIZE_UBX7)		/* u-blox 7 msg format */
+		    && (_rx_payload_length != UBX_PAYLOAD_RX_NAV_PVT_SIZE_UBX8))	/* u-blox 8+ msg format */
+			_rx_state = UBX_RXMSG_ERROR_LENGTH;
+		else if (!_configured)
+			_rx_state = UBX_RXMSG_IGNORE;	// ignore if not _configured
+		else if (!_use_nav_pvt)
+			_rx_state = UBX_RXMSG_DISABLE;	// disable if not using NAV-PVT
+		break;
+
 	case UBX_MSG_NAV_POSLLH:
 		if (_rx_payload_length != sizeof(ubx_payload_rx_nav_posllh_t))
 			_rx_state = UBX_RXMSG_ERROR_LENGTH;
 		else if (!_configured)
 			_rx_state = UBX_RXMSG_IGNORE;	// ignore if not _configured
+		else if (_use_nav_pvt)
+			_rx_state = UBX_RXMSG_DISABLE;	// disable if using NAV-PVT instead
 		break;
 
 	case UBX_MSG_NAV_SOL:
@@ -466,6 +486,8 @@ UBX::payload_rx_init()
 			_rx_state = UBX_RXMSG_ERROR_LENGTH;
 		else if (!_configured)
 			_rx_state = UBX_RXMSG_IGNORE;	// ignore if not _configured
+		else if (_use_nav_pvt)
+			_rx_state = UBX_RXMSG_DISABLE;	// disable if using NAV-PVT instead
 		break;
 
 	case UBX_MSG_NAV_TIMEUTC:
@@ -473,6 +495,8 @@ UBX::payload_rx_init()
 			_rx_state = UBX_RXMSG_ERROR_LENGTH;
 		else if (!_configured)
 			_rx_state = UBX_RXMSG_IGNORE;	// ignore if not _configured
+		else if (_use_nav_pvt)
+			_rx_state = UBX_RXMSG_DISABLE;	// disable if using NAV-PVT instead
 		break;
 
 	case UBX_MSG_NAV_SVINFO:
@@ -489,6 +513,8 @@ UBX::payload_rx_init()
 			_rx_state = UBX_RXMSG_ERROR_LENGTH;
 		else if (!_configured)
 			_rx_state = UBX_RXMSG_IGNORE;	// ignore if not _configured
+		else if (_use_nav_pvt)
+			_rx_state = UBX_RXMSG_DISABLE;	// disable if using NAV-PVT instead
 		break;
 
 	case UBX_MSG_MON_VER:
@@ -675,6 +701,68 @@ UBX::payload_rx_done(void)
 	// handle message
 	switch (_rx_msg) {
 
+	case UBX_MSG_NAV_PVT:
+		UBX_TRACE_RXMSG("Rx NAV-PVT\n");
+
+		_gps_position->fix_type		= _buf.payload_rx_nav_pvt.fixType;
+		_gps_position->satellites_used	= _buf.payload_rx_nav_pvt.numSV;
+
+		_gps_position->lat		= _buf.payload_rx_nav_pvt.lat;
+		_gps_position->lon		= _buf.payload_rx_nav_pvt.lon;
+		_gps_position->alt		= _buf.payload_rx_nav_pvt.hMSL;
+
+		_gps_position->eph		= (float)_buf.payload_rx_nav_pvt.hAcc * 1e-3f;
+		_gps_position->epv		= (float)_buf.payload_rx_nav_pvt.vAcc * 1e-3f;
+		_gps_position->s_variance_m_s	= (float)_buf.payload_rx_nav_pvt.sAcc * 1e-3f;
+
+		_gps_position->vel_m_s		= (float)_buf.payload_rx_nav_pvt.gSpeed * 1e-3f;
+
+		_gps_position->vel_n_m_s	= (float)_buf.payload_rx_nav_pvt.velN * 1e-3f;
+		_gps_position->vel_e_m_s	= (float)_buf.payload_rx_nav_pvt.velE * 1e-3f;
+		_gps_position->vel_d_m_s	= (float)_buf.payload_rx_nav_pvt.velD * 1e-3f;
+		_gps_position->vel_ned_valid	= true;
+
+		_gps_position->cog_rad		= (float)_buf.payload_rx_nav_pvt.headMot * M_DEG_TO_RAD_F * 1e-5f;
+		_gps_position->c_variance_rad	= (float)_buf.payload_rx_nav_pvt.headAcc * M_DEG_TO_RAD_F * 1e-5f;
+
+		{
+			/* convert to unix timestamp */
+			struct tm timeinfo;
+			timeinfo.tm_year	= _buf.payload_rx_nav_pvt.year - 1900;
+			timeinfo.tm_mon		= _buf.payload_rx_nav_pvt.month - 1;
+			timeinfo.tm_mday	= _buf.payload_rx_nav_pvt.day;
+			timeinfo.tm_hour	= _buf.payload_rx_nav_pvt.hour;
+			timeinfo.tm_min		= _buf.payload_rx_nav_pvt.min;
+			timeinfo.tm_sec		= _buf.payload_rx_nav_pvt.sec;
+			time_t epoch = mktime(&timeinfo);
+
+#ifndef CONFIG_RTC
+			//Since we lack a hardware RTC, set the system time clock based on GPS UTC
+			//TODO generalize this by moving into gps.cpp?
+			timespec ts;
+			ts.tv_sec = epoch;
+			ts.tv_nsec = _buf.payload_rx_nav_pvt.nano;
+			clock_settime(CLOCK_REALTIME, &ts);
+#endif
+
+			_gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this
+			_gps_position->time_gps_usec += (uint64_t)(_buf.payload_rx_nav_pvt.nano * 1e-3f);
+		}
+
+		_gps_position->timestamp_time		= hrt_absolute_time();
+		_gps_position->timestamp_velocity 	= hrt_absolute_time();
+		_gps_position->timestamp_variance 	= hrt_absolute_time();
+		_gps_position->timestamp_position	= hrt_absolute_time();
+
+		_rate_count_vel++;
+		_rate_count_lat_lon++;
+
+		_got_posllh = true;
+		_got_velned = true;
+
+		ret = 1;
+		break;
+
 	case UBX_MSG_NAV_POSLLH:
 		UBX_TRACE_RXMSG("Rx NAV-POSLLH\n");
 
@@ -697,7 +785,6 @@ UBX::payload_rx_done(void)
 
 		_gps_position->fix_type		= _buf.payload_rx_nav_sol.gpsFix;
 		_gps_position->s_variance_m_s	= (float)_buf.payload_rx_nav_sol.sAcc * 1e-2f;	// from cm to m
-		_gps_position->p_variance_m	= (float)_buf.payload_rx_nav_sol.pAcc * 1e-2f;	// from cm to m
 		_gps_position->satellites_used	= _buf.payload_rx_nav_sol.numSV;
 
 		_gps_position->timestamp_variance = hrt_absolute_time();

src/drivers/gps/ubx.h

@@ -183,7 +183,7 @@ typedef struct {
 	uint32_t	reserved2;
 } ubx_payload_rx_nav_sol_t;
 
-/* Rx NAV-PVT */
+/* Rx NAV-PVT (ubx8) */
 typedef struct {
 	uint32_t	iTOW;		/**< GPS Time of Week [ms] */
 	uint16_t	year; 		/**< Year (UTC)*/
@@ -215,9 +215,11 @@ typedef struct {
 	uint16_t	pDOP;		/**< Position DOP [0.01] */
 	uint16_t	reserved2;
 	uint32_t	reserved3;
-	int32_t		headVeh;	/**< Heading of vehicle (2-D) [1e-5 deg] */
-	uint32_t	reserved4;
+	int32_t		headVeh;	/**< (ubx8+ only) Heading of vehicle (2-D) [1e-5 deg] */
+	uint32_t	reserved4;	/**< (ubx8+ only) */
 } ubx_payload_rx_nav_pvt_t;
+#define UBX_PAYLOAD_RX_NAV_PVT_SIZE_UBX7	(sizeof(ubx_payload_rx_nav_pvt_t) - 8)
+#define UBX_PAYLOAD_RX_NAV_PVT_SIZE_UBX8	(sizeof(ubx_payload_rx_nav_pvt_t))
 
 /* Rx NAV-TIMEUTC */
 typedef struct {
@@ -395,6 +397,7 @@ typedef struct {
 
 /* General message and payload buffer union */
 typedef union {
+	ubx_payload_rx_nav_pvt_t		payload_rx_nav_pvt;
 	ubx_payload_rx_nav_posllh_t		payload_rx_nav_posllh;
 	ubx_payload_rx_nav_sol_t		payload_rx_nav_sol;
 	ubx_payload_rx_nav_timeutc_t		payload_rx_nav_timeutc;
@@ -533,6 +536,7 @@ private:
 	uint16_t		_ack_waiting_msg;
 	ubx_buf_t		_buf;
 	uint32_t		_ubx_version;
+	bool			_use_nav_pvt;
 };
 
 #endif /* UBX_H_ */

src/modules/mavlink/mavlink_receiver.cpp

@@ -741,7 +741,6 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
 
 	hil_gps.timestamp_variance = timestamp;
 	hil_gps.s_variance_m_s = 5.0f;
-	hil_gps.p_variance_m = hil_gps.eph * hil_gps.eph;
 
 	hil_gps.timestamp_velocity = timestamp;
 	hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s

src/modules/uORB/topics/vehicle_gps_position.h

@@ -61,7 +61,6 @@ struct vehicle_gps_position_s {
 
 	uint64_t timestamp_variance;
 	float s_variance_m_s;				/**< speed accuracy estimate m/s */
-	float p_variance_m;				/**< position accuracy estimate m */
 	float c_variance_rad;				/**< course accuracy estimate rad */
 	uint8_t fix_type; 				/**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.   */