516df460b8
AP_GPS: added doc message for bit 2 of DRV_OPTIONS
4 years ago
f735804035
AP_GPS: added GPS_DRV_OPTIONS bit for forcing ublox GPS to 115200
...
this may help with some GPS modules
4 years ago
d7c72af849
AP_GPS: added arming checks for yaw available on ublox RTK rover
4 years ago
d7dea5c28c
AP_GPS: change handling of moving baseline yaw
...
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
4 years ago
c0c3f92c39
AP_GPS: remove @Values from param metadata where @Bitmask exists
4 years ago
9e5662e927
AP_GPS: remove HIL support
4 years ago
15cd41ca19
AP_GPS: add support for AP_Logger into AP_Periph
4 years ago
60e47b56f5
AP_GPS: Nova: Remove unneeded injection override
4 years ago
02feaaffcd
AP_GPS: setup ublox moving baseline at 230400 when using uart2
...
this avoids issues with needing DMA on the UARTs when using UART2 to
transport RTCMv3 data
4 years ago
a61b6ebda8
AP_GPS: move from HAL_NO_LOGGING to HAL_LOGGING_ENABLED
4 years ago
1288f4c81b
AP_GPS: Support GPS_SBAS_MODE on SBF GPS units
...
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
4 years ago
747de2c28c
AP_GPS: Change to STM32's faster processing operations
4 years ago
0cd97ce3d8
AP_GPS: fixed GPS yaw for GPS_INPUT mavlink
4 years ago
30b9a7aeb4
AP_GPS: correct GPS_AUTO_SWITCH parameter description
4 years ago
7cc11e6856
AP_GPS: fixed handling of loss of GPS yaw
...
when the GPS yaw data doesn't pass the internal tests of validity for
400ms we need to stop telling the EKF that we have valid yaw
4 years ago
de5da74df1
AP_GPS: fixed spelling of GLONASS
4 years ago
a245100ae6
AP_GPS_UBLOX: Fix GALILEO auto configuration
4 years ago
dd86e0cc89
AP_GPS: added comment explaining the approach
4 years ago
8bc31ec5e9
AP_GPS: account for rotation rate in moving baseline Z test
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this avoids switching GPS on rapid roll/pitch
4 years ago
a7e0c565dc
AP_GPS: populate extension fields in GPS2_RAW
4 years ago
738d000f86
AP_GPS: Add NMEA THS message.
4 years ago
3650c02745
AP_GPS: use common nmea_printf()
4 years ago
3a006ae226
AP_GPS: Supplementary explanation of configuration parameters (NFC)
4 years ago
edceb4e3a4
AP_GPS: move underscore one layer down for GPS
4 years ago
0031fee851
AP_GPS: add support for ordering UAVCAN GPS
4 years ago
a3ddf5264d
AP_GPS: Support uavcan ardupilot.gnss.Status
...
Also makes the drive by change to make GPS_Backend::is_configured const
4 years ago
f227d67d58
AP_GPS: Remove unused enum
4 years ago
9da9d8c94b
AP_GPS: provide method for getting single char representing fix type
...
Should allow us to be consistent across places in the code base that
need a compact representation for a user display.
4 years ago
c2cba52ad8
AP_GPS: move gps logging structures into AP_GPS
4 years ago
4c4e613f6a
AP_GPS: Don't send SBF config unless there is free space in the port
4 years ago
4d42996068
AP_GPS: Force the buadrate on SBF units
4 years ago
5f3b1b92a4
AP_GPS: SBF don't send configuration until we've recieved a prompt
...
This fixes a configuration problem with SBF unit's where sometimes we
fail to detect the GPS unit continously, until it's been manually
configured. This was tested by doing a hard reset to the GPS unit.
This also now accepts a set of defines from the hwdef, or build
environment, which allows us to specify extra config options.
4 years ago
d9ffd04a96
AP_GPS: Broadcast the detect message on AP_Periph over CAN
4 years ago
6bdc1704f4
AP_GPS: Remove pointer check before delete
...
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
4 years ago
2e75425a2a
AP_GPS: Add missing const in member functions
...
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
4 years ago
0f363809f5
AP_GPS: Fix some unit errors with the GPS blended instance
...
Also add a static assert and some docs on the fact that blending only
works with 2 actual recievers at the moment
Also a small optimization to not call get_rate_ms() twice
4 years ago
d426d8e1f8
AP_GPS: use ground_course in preference to ground_course_cd
4 years ago
2ee052b36e
AP_GPS: Made GPS_DISABLE prevent last_fix_time_ms updates
4 years ago
d2720da4a2
AP_GPS: support yaw for UAVCAN GPS
4 years ago
bf51478dd1
AP_GPS: added ExternalAHRS backend
4 years ago
1d288316cc
AP_GPS: standard spelling of variant
4 years ago
e02047861a
AP_GPS: convert to using hal.serial() instead of hal.uartX
4 years ago
1a4f094025
AP_GPS: allow hwdef override of default for GPS_COM_PORT
4 years ago
92bcc7667c
AP_GPS: allow for SBF GPS on F3 AP_Periph
4 years ago
862ae59e28
AP_GPS: support $PHD message for AllyStay NMEA GPS
...
this adds vertical velocity support
4 years ago
7a82898e92
AP_GPS: expand gps rate description
4 years ago
05194ed8b6
AP_GPS: don't accept infinite accuracies for blending
...
these result in NaN values for velocities
4 years ago
83c479bcc2
AP_GPS: prevent UAVCAN GPS from giving infinite accuracy values
...
this can happen due to the complex encodings of accuracies in UAVCAN
4 years ago
a762926526
AP_GPS: fixed constrained NaN in EKF3 caused by bad GPS blending
...
if the accuracies reported are very low then we can do a division by
zero and this results in a constraining NaN for GPS vertical velocity
filter in NavEKF3_core::calcGpsGoodToAlign
4 years ago
e257dd9fee
AP_GPS: correct logging for GPS blending
4 years ago
Andrew Tridgell
Peter Barker
Michael du Breuil
murata
giacomo892
Philippe Hamelin
Siddharth Purohit
Patrick José Pereira
E Thomas
Michael Oborne
Ari Krupnik
Hwurzburg