e7ff5107fb
AP_GPS: tidy mavlink message handling using switch statement
8 years ago
2ad453fc89
AP_GPS: handle inject packets as part of handle_msg
8 years ago
b791fef7cb
AP_GPS: Publish the number of satellites in the RTK correction messages, and the age of the RTK correction messages
8 years ago
ae47ac5a09
AP_GPS: implement missing "RTK number of satellites" and "RTK correction age" information in the GPS2_RAW MAVLink message
8 years ago
059c213d19
AP_GPS: Improve comments and documentation (NFC)
8 years ago
5684a5dd36
AP_GPS: Only setup state's instance field during init
8 years ago
82e7e44cc3
AP_GPS: fixed UAVCAN as 2nd GPS
...
This fixes the issue here:
https://discuss.ardupilot.org/t/ac3-6-dev-dual-gps-issues/19172
thanks to Francisco for spotting the issue
this is tested with UAVCAN as 2nd GPS, ublox as primary
8 years ago
76847a2487
AP_GPS: eliminate GCS_MAVLINK::send_statustext_all
8 years ago
cb1b9b6674
AP_GPS: Fix SBF race condition on start
...
Unsure what the underlying problem is, but the length of the first string in
the initilisation_blob increasing resulted in a race condition, waiting
longer before retrying the message resolves it, but we still need to identify
the underlying problem. This patch just results in the GPS working with current
configurations. Tested against AsteRx-M firmware 3.6.3
8 years ago
5341e51f45
AP_GPS: support for multiple instances on different interfaces
8 years ago
cbe9627bf5
AP_GPS: correct example
8 years ago
7258cfd20b
AP_GPS: check dataflash to see if we should log backend gps messages
8 years ago
f35f0d59dd
AP_GPS: fix SBP2 driver build warnings by using memcpy
...
Build gave the following warnings:
../../libraries/AP_GPS/AP_GPS_SBP2.cpp: In member function ‘void AP_GPS_SBP2::_sbp_process_message()’:
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:181:78: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_heartbeat = *((struct sbp_heartbeat_t*)parser_state.msg_buff);
^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:181:28: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_heartbeat = *((struct sbp_heartbeat_t*)parser_state.msg_buff);
^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:186:76: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_gps_time = *((struct sbp_gps_time_t*)parser_state.msg_buff);
^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:186:27: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_gps_time = *((struct sbp_gps_time_t*)parser_state.msg_buff);
^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:190:74: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_vel_ned = *((struct sbp_vel_ned_t*)parser_state.msg_buff);
^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:190:26: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_vel_ned = *((struct sbp_vel_ned_t*)parser_state.msg_buff);
^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:194:74: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_pos_llh = *((struct sbp_pos_llh_t*)parser_state.msg_buff);
^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:194:26: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_pos_llh = *((struct sbp_pos_llh_t*)parser_state.msg_buff);
^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:198:68: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_dops = *((struct sbp_dops_t*)parser_state.msg_buff);
^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:198:23: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_dops = *((struct sbp_dops_t*)parser_state.msg_buff);
^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:202:74: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_event = *((struct sbp_ext_event_t*)parser_state.msg_buff);
^
../../libraries/AP_GPS/AP_GPS_SBP2.cpp:202:24: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
last_event = *((struct sbp_ext_event_t*)parser_state.msg_buff);
^
8 years ago
005dbf41a7
AP_GPS: Add SBP EXT_EVENT Message to dataflash log
8 years ago
4779a8f1f1
AP_GPS: Rename SBR1/SBR2 to SBRH/SBRM and change format
...
Add (sender_id, msg_len) in SBRM message
Add index/pages in SBRH/SBRM messages
Change format to integers to avoid GCS string parsing
Decrease data size in SBRH
8 years ago
60c6f8ad60
AP_GPS: fix bug when injecting messages bigger than 255 bytes
...
Commit 5261654
8 years ago
249849dfa4
AP_GPS: Add an enum for _auto_config
8 years ago
5f8633e322
AP_GPS: Allow backends to report their lag confidences
8 years ago
5dcfc94371
AP_GPS: Add validity boolean to GPS lag reporting
8 years ago
bd0229b7bc
AP_GPS: Fix bug in calculation of blended GPS delay
8 years ago
6c3db3939e
AP_GPS: Update comment on get_rate_ms()
...
AP_GPS::get_rate_ms() is only meant to help the GPS backends
8 years ago
ffe701bda3
AP_GPS: Use a static assert to check that the init blob is small enough
8 years ago
1877d09f7c
AP_GPS: Don't track detection time to broadcast baud rate
8 years ago
84598544fb
AP_GPS: Don't autodetect NMEA instances
8 years ago
a1479c4138
AP_GPS: SBF report driver lag
8 years ago
3da3ad05bf
AP_GPS: SBF report velocity accuracy
8 years ago
c7a89d5aa0
AP_GPS: Set unknown DOP's to UINT16_MAX, rather then 9999
...
This fixes the MAVLink reporting for unknown dops, and avoids the situation where a GPS driver could report a worse DOP then we could handle.
Also corrects an apparent error in the HIL_GPS MAVLink message, where we would always select the unknown dop value rather then provided DOP.
8 years ago
397ae00526
AP_GPS: SBF report VDOP
8 years ago
2d5033b132
AP_GPS: Use SI units conventions in parameter units
...
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
8 years ago
e9ce3aa0ce
AP_GPS: use HAL_SEMAPHORE_BLOCK_FOREVER macro
8 years ago
e31ac00f26
AP_GPS: fix spelling in comments
8 years ago
3687b6bdf0
AP_GPS: rename macros to avoid conflicts
...
these macros were also defined in NuttX in clock.h
8 years ago
1691a39b36
AP_GPS: spell in comments
8 years ago
5b67b33310
AP_GPS: Remove un-used AP_GPS::inject_data_all() function
8 years ago
5261654756
AP_GPS: Only inject RTCM data to the selected GPS device defined in GPS_INJECT_TO parameter
8 years ago
12f83ecf75
AP_GPS: SBF if RAW_DATA is enabled check that the GPS is succeeding at logging
8 years ago
d91f89d24b
AP_GPS: Remove stale ublox config files
...
These configurations no longer (and haven't for quite awhile) matched the
desired command set or baud rates, loading them will still require the GPS
driver to tweak settings, or have AUTO_CONFIG turned off, which is a less
safe configuration.
8 years ago
1ba59b446c
AP_GPS: log ublox sw and hw versions on dataflash log start
...
This burns 41 bytes of RAM for each u-Blox GPS.
8 years ago
b7baca8d43
AP_GPS: move GPS type announcements into backend
...
See #4584
8 years ago
c46ea73426
AP_GPS: rename QURTGPS to QURT
8 years ago
2354a0ec5a
AP_GPS: ability to log GPS detection state to dataflash
8 years ago
94a5e94ec9
AP_GPS: canonicalise statustext messages
...
Use "GPS %d" prefix, where %d is instance+1, to correspond
with parameters
8 years ago
4334a92ac9
AP_GPS: remove unimplemented method declarations
8 years ago
6f297deaf7
AP_GPS: Unify inject_data interface for all classes
8 years ago
4bf9fc071c
AP_GPS: Adds SBP Version 2: Swift Navigation Piksi Multi support
...
This commit adds:
- New driver for SBPv2
--- Support Piksi Multi, Swift Navigation's multi-band multi-constellation GPS
--- Proper parsing of SBP flags
--- Instant response to Piksi status changes (no more timeouts)
--- Support for Piksi Multi as a Single-Point-Positioning GPS or only onboard GPS
--- Incorporates horizontal and vertical accuracy estimates, and vdop.
- Updates driver for SBPv0
--- Continue support for previous Piksi
- Dispatches correct driver based on SBP version.
8 years ago
8130d85b42
AP_GPS: removal of legacy UAVCAN support
8 years ago
292fa5f413
AP_GPS: example fix travis warning
...
missing function declaration
implicit cast
some style fix
8 years ago
dfe9b0e6fc
AP_GPS: support for UAVCAN connected GNSS receivers
8 years ago
6b523cbd46
AP_GPS: Fix a memory leak in QURT GPS
...
Fixes part of #6000
8 years ago
1b00dfb642
AP_GPS: Fix parameter metadata
8 years ago
Peter Barker
Dr.-Ing. Amilcar Do Carmo Lucas
Michael du Breuil
Andrew Tridgell
Eugene Shamaev
Francisco Ferreira
ebethon
Rob Ratcliff
priseborough
Niels Joubert
Pierre Kancir
Jacob Walser