New Filter to calculate NED from LLA as part of StateEstimation

flight/libraries/CoordinateConversions.c

@@ -35,23 +35,29 @@
 #define MIN_ALLOWABLE_MAGNITUDE 1e-30f
 
 // ****** convert Lat,Lon,Alt to ECEF  ************
-void LLA2ECEF(float LLA[3], double ECEF[3])
+void LLA2ECEF(int32_t LLAi[3], double ECEF[3])
 {
-    const double a = 6378137.0d; // Equatorial Radius
+    const double a  = 6378137.0d; // Equatorial Radius
-    const double e = 8.1819190842622e-2d; // Eccentricity
+    const double e  = 8.1819190842622e-2d; // Eccentricity
+    const double e2 = e * e; // Eccentricity squared
     double sinLat, sinLon, cosLat, cosLon;
     double N;
+    double LLA[3]   = {
+        (double)LLAi[0] * 1e-7d,
+        (double)LLAi[1] * 1e-7d,
+        (double)LLAi[2] * 1e-4d
+    };
 
-    sinLat = sin(DEG2RAD(LLA[0]));
+    sinLat = sin(DEG2RAD_D(LLA[0]));
-    sinLon = sin(DEG2RAD(LLA[1]));
+    sinLon = sin(DEG2RAD_D(LLA[1]));
-    cosLat = cos(DEG2RAD(LLA[0]));
+    cosLat = cos(DEG2RAD_D(LLA[0]));
-    cosLon = cos(DEG2RAD(LLA[1]));
+    cosLon = cos(DEG2RAD_D(LLA[1]));
 
-    N = a / sqrt(1.0d - e * e * sinLat * sinLat); // prime vertical radius of curvature
+    N = a / sqrt(1.0d - e2 * sinLat * sinLat); // prime vertical radius of curvature
 
-    ECEF[0] = (N + (double)LLA[2]) * cosLat * cosLon;
+    ECEF[0] = (N + LLA[2]) * cosLat * cosLon;
-    ECEF[1] = (N + (double)LLA[2]) * cosLat * sinLon;
+    ECEF[1] = (N + LLA[2]) * cosLat * sinLon;
-    ECEF[2] = ((1 - e * e) * N + (double)LLA[2]) * sinLat;
+    ECEF[2] = ((1.0d - e2) * N + LLA[2]) * sinLat;
 }
 
 // ****** convert ECEF to Lat,Lon,Alt (ITERATIVE!) *********
@@ -100,14 +106,14 @@ uint16_t ECEF2LLA(double ECEF[3], float LLA[3])
 }
 
 // ****** find ECEF to NED rotation matrix ********
-void RneFromLLA(float LLA[3], double Rne[3][3])
+void RneFromLLA(int32_t LLAi[3], float Rne[3][3])
 {
-    double sinLat, sinLon, cosLat, cosLon;
+    float sinLat, sinLon, cosLat, cosLon;
 
-    sinLat    = sin(DEG2RAD(LLA[0]));
+    sinLat    = sinf(DEG2RAD((float)LLAi[0] * 1e-7f));
-    sinLon    = sin(DEG2RAD(LLA[1]));
+    sinLon    = sinf(DEG2RAD((float)LLAi[1] * 1e-7f));
-    cosLat    = cos(DEG2RAD(LLA[0]));
+    cosLat    = cosf(DEG2RAD((float)LLAi[0] * 1e-7f));
-    cosLon    = cos(DEG2RAD(LLA[1]));
+    cosLon    = cosf(DEG2RAD((float)LLAi[1] * 1e-7f));
 
     Rne[0][0] = -sinLat * cosLon;
     Rne[0][1] = -sinLat * sinLon;
@@ -188,16 +194,16 @@ void Quaternion2R(float q[4], float Rbe[3][3])
 }
 
 // ****** Express LLA in a local NED Base Frame ********
-void LLA2Base(float LLA[3], double BaseECEF[3], double Rne[3][3], float NED[3])
+void LLA2Base(int32_t LLAi[3], double BaseECEF[3], float Rne[3][3], float NED[3])
 {
     double ECEF[3];
-    double diff[3];
+    float diff[3];
 
-    LLA2ECEF(LLA, ECEF);
+    LLA2ECEF(LLAi, ECEF);
 
-    diff[0] = (ECEF[0] - BaseECEF[0]);
+    diff[0] = (float)(ECEF[0] - BaseECEF[0]);
-    diff[1] = (ECEF[1] - BaseECEF[1]);
+    diff[1] = (float)(ECEF[1] - BaseECEF[1]);
-    diff[2] = (ECEF[2] - BaseECEF[2]);
+    diff[2] = (float)(ECEF[2] - BaseECEF[2]);
 
     NED[0]  = Rne[0][0] * diff[0] + Rne[0][1] * diff[1] + Rne[0][2] * diff[2];
     NED[1]  = Rne[1][0] * diff[0] + Rne[1][1] * diff[1] + Rne[1][2] * diff[2];
@@ -205,13 +211,13 @@ void LLA2Base(float LLA[3], double BaseECEF[3], double Rne[3][3], float NED[3])
 }
 
 // ****** Express ECEF in a local NED Base Frame ********
-void ECEF2Base(double ECEF[3], double BaseECEF[3], double Rne[3][3], float NED[3])
+void ECEF2Base(double ECEF[3], double BaseECEF[3], float Rne[3][3], float NED[3])
 {
-    double diff[3];
+    float diff[3];
 
-    diff[0] = (ECEF[0] - BaseECEF[0]);
+    diff[0] = (float)(ECEF[0] - BaseECEF[0]);
-    diff[1] = (ECEF[1] - BaseECEF[1]);
+    diff[1] = (float)(ECEF[1] - BaseECEF[1]);
-    diff[2] = (ECEF[2] - BaseECEF[2]);
+    diff[2] = (float)(ECEF[2] - BaseECEF[2]);
 
     NED[0]  = Rne[0][0] * diff[0] + Rne[0][1] * diff[1] + Rne[0][2] * diff[2];
     NED[1]  = Rne[1][0] * diff[0] + Rne[1][1] * diff[1] + Rne[1][2] * diff[2];

flight/libraries/inc/CoordinateConversions.h

@@ -31,12 +31,12 @@
 #define COORDINATECONVERSIONS_H_
 
 // ****** convert Lat,Lon,Alt to ECEF  ************
-void LLA2ECEF(float LLA[3], double ECEF[3]);
+void LLA2ECEF(int32_t LLAi[3], double ECEF[3]);
 
 // ****** convert ECEF to Lat,Lon,Alt (ITERATIVE!) *********
 uint16_t ECEF2LLA(double ECEF[3], float LLA[3]);
 
-void RneFromLLA(float LLA[3], double Rne[3][3]);
+void RneFromLLA(int32_t LLAi[3], float Rne[3][3]);
 
 // ****** find rotation matrix from rotation vector
 void Rv2Rot(float Rv[3], float R[3][3]);
@@ -51,10 +51,10 @@ void RPY2Quaternion(const float rpy[3], float q[4]);
 void Quaternion2R(float q[4], float Rbe[3][3]);
 
 // ****** Express LLA in a local NED Base Frame ********
-void LLA2Base(float LLA[3], double BaseECEF[3], double Rne[3][3], float NED[3]);
+void LLA2Base(int32_t LLAi[3], double BaseECEF[3], float Rne[3][3], float NED[3]);
 
 // ****** Express ECEF in a local NED Base Frame ********
-void ECEF2Base(double ECEF[3], double BaseECEF[3], double Rne[3][3], float NED[3]);
+void ECEF2Base(double ECEF[3], double BaseECEF[3], float Rne[3][3], float NED[3]);
 
 // ****** convert Rotation Matrix to Quaternion ********
 // ****** if R converts from e to b, q is rotation from e to b ****

flight/modules/GPS/GPS.c

@@ -37,7 +37,7 @@
 #include "gpstime.h"
 #include "gpssatellites.h"
 #include "gpsvelocitysensor.h"
-#include "systemsettings.h"
+#include "gpssettings.h"
 #include "taskinfo.h"
 #include "hwsettings.h"
 
@@ -168,13 +168,13 @@ int32_t GPSInitialize(void)
 #endif /* if defined(REVOLUTION) */
 
     if (gpsPort && gpsEnabled) {
-        SystemSettingsInitialize();
+        GPSSettingsInitialize();
-        SystemSettingsGPSDataProtocolGet(&gpsProtocol);
+        GPSSettingsDataProtocolGet(&gpsProtocol);
         switch (gpsProtocol) {
-        case SYSTEMSETTINGS_GPSDATAPROTOCOL_NMEA:
+        case GPSSETTINGS_DATAPROTOCOL_NMEA:
             gps_rx_buffer = pvPortMalloc(NMEA_MAX_PACKET_LENGTH);
             break;
-        case SYSTEMSETTINGS_GPSDATAPROTOCOL_UBX:
+        case GPSSETTINGS_DATAPROTOCOL_UBX:
             gps_rx_buffer = pvPortMalloc(sizeof(struct UBXPacket));
             break;
         default:
@@ -201,9 +201,9 @@ static void gpsTask(__attribute__((unused)) void *parameters)
     uint32_t timeNowMs  = xTaskGetTickCount() * portTICK_RATE_MS;
 
     GPSPositionSensorData gpspositionsensor;
-    uint8_t gpsProtocol;
+    GPSSettingsData gpsSettings;
 
-    SystemSettingsGPSDataProtocolGet(&gpsProtocol);
+    GPSSettingsGet(&gpsSettings);
 
     timeOfLastUpdateMs  = timeNowMs;
     timeOfLastCommandMs = timeNowMs;
@@ -216,14 +216,14 @@ static void gpsTask(__attribute__((unused)) void *parameters)
         // This blocks the task until there is something on the buffer
         while (PIOS_COM_ReceiveBuffer(gpsPort, &c, 1, xDelay) > 0) {
             int res;
-            switch (gpsProtocol) {
+            switch (gpsSettings.DataProtocol) {
 #if defined(PIOS_INCLUDE_GPS_NMEA_PARSER)
-            case SYSTEMSETTINGS_GPSDATAPROTOCOL_NMEA:
+            case GPSSETTINGS_DATAPROTOCOL_NMEA:
                 res = parse_nmea_stream(c, gps_rx_buffer, &gpspositionsensor, &gpsRxStats);
                 break;
 #endif
 #if defined(PIOS_INCLUDE_GPS_UBX_PARSER)
-            case SYSTEMSETTINGS_GPSDATAPROTOCOL_UBX:
+            case GPSSETTINGS_DATAPROTOCOL_UBX:
                 res = parse_ubx_stream(c, gps_rx_buffer, &gpspositionsensor, &gpsRxStats);
                 break;
 #endif
@@ -251,7 +251,7 @@ static void gpsTask(__attribute__((unused)) void *parameters)
             // we appear to be receiving GPS sentences OK, we've had an update
             // criteria for GPS-OK taken from this post...
             // http://forums.openpilot.org/topic/1523-professors-insgps-in-svn/page__view__findpost__p__5220
-            if ((gpspositionsensor.PDOP < 3.5f) && (gpspositionsensor.Satellites >= 7) &&
+            if ((gpspositionsensor.PDOP < gpsSettings.MaxPDOP) && (gpspositionsensor.Satellites >= gpsSettings.MinSattelites) &&
                 (gpspositionsensor.Status == GPSPOSITIONSENSOR_STATUS_FIX3D) &&
                 (gpspositionsensor.Latitude != 0 || gpspositionsensor.Longitude != 0)) {
                 AlarmsClear(SYSTEMALARMS_ALARM_GPS);

flight/modules/StateEstimation/filterlla.c

@@ -0,0 +1,125 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{
+ * @addtogroup State Estimation
+ * @brief Acquires sensor data and computes state estimate
+ * @{
+ *
+ * @file       filterlla.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
+ * @brief      Computes NED position from GPS LLA data
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ ******************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "inc/stateestimation.h"
+#include <CoordinateConversions.h>
+
+#include <homelocation.h>
+#include <gpssettings.h>
+#include <gpspositionsensor.h>
+
+// Private constants
+
+#define STACK_REQUIRED 256
+
+// Private types
+struct data {
+    GPSSettingsData  settings;
+    HomeLocationData home;
+    double HomeECEF[3];
+    float HomeRne[3][3];
+};
+
+// Private variables
+
+// Private functions
+
+static int32_t init(stateFilter *self);
+static int32_t filter(stateFilter *self, stateEstimation *state);
+
+
+int32_t filterLLAInitialize(stateFilter *handle)
+{
+    handle->init      = &init;
+    handle->filter    = &filter;
+    handle->localdata = pvPortMalloc(sizeof(struct data));
+    GPSSettingsInitialize();
+    GPSPositionSensorInitialize();
+    HomeLocationInitialize();
+    return STACK_REQUIRED;
+}
+
+static int32_t init(__attribute__((unused)) stateFilter *self)
+{
+    struct data *this = (struct data *)self->localdata;
+
+    GPSSettingsGet(&this->settings);
+    HomeLocationGet(&this->home);
+    if (this->home.Set != HOMELOCATION_SET_TRUE) {
+        // calculate home location coordinate reference
+        int32_t LLAi[3] = {
+            this->home.Latitude,
+            this->home.Longitude,
+            (int32_t)(this->home.Altitude * 1e4f),
+        };
+        LLA2ECEF(LLAi, this->HomeECEF);
+        RneFromLLA(LLAi, this->HomeRne);
+    }
+    return 0;
+}
+
+static int32_t filter(__attribute__((unused)) stateFilter *self, stateEstimation *state)
+{
+    struct data *this = (struct data *)self->localdata;
+
+    // cannot update local NED if home location is unset
+    if (this->home.Set != HOMELOCATION_SET_TRUE) {
+        return 0;
+    }
+
+    // only do stuff if we have a valid GPS update
+    if (IS_SET(state->updated, SENSORUPDATES_lla)) {
+        // LLA information is not part of the state blob, due to its non standard layout (fixed point representation, quality of signal, ...)
+        // this filter deals with the gory details of interpreting it and storing it in a standard Cartesian position state
+        GPSPositionSensorData gpsdata;
+        GPSPositionSensorGet(&gpsdata);
+
+        // check if we have a valid GPS signal (not checked by StateEstimation istelf)
+        if ((gpsdata.PDOP < this->settings.MaxPDOP) && (gpsdata.Satellites >= this->settings.MinSattelites) &&
+            (gpsdata.Status == GPSPOSITIONSENSOR_STATUS_FIX3D) &&
+            (gpsdata.Latitude != 0 || gpsdata.Longitude != 0)) {
+            int32_t LLAi[3] = {
+                gpsdata.Latitude,
+                gpsdata.Longitude,
+                (int32_t)((gpsdata.Altitude + gpsdata.GeoidSeparation) * 1e4f),
+            };
+            LLA2Base(LLAi, this->HomeECEF, this->HomeRne, state->pos);
+            state->updated |= SENSORUPDATES_pos;
+        }
+    }
+
+    return 0;
+}
+
+/**
+ * @}
+ * @}
+ */

flight/modules/StateEstimation/inc/stateestimation.h

@@ -41,6 +41,7 @@ typedef enum {
         SENSORUPDATES_vel      = 1 << 5,
         SENSORUPDATES_airspeed = 1 << 6,
         SENSORUPDATES_baro     = 1 << 7,
+        SENSORUPDATES_lla      = 1 << 8,
 } sensorUpdates;
 
 typedef struct {
@@ -66,6 +67,7 @@ int32_t filterMagInitialize(stateFilter *handle);
 int32_t filterBaroInitialize(stateFilter *handle);
 int32_t filterAirInitialize(stateFilter *handle);
 int32_t filterStationaryInitialize(stateFilter *handle);
+int32_t filterLLAInitialize(stateFilter *handle);
 int32_t filterCFInitialize(stateFilter *handle);
 int32_t filterCFMInitialize(stateFilter *handle);
 int32_t filterEKF13iInitialize(stateFilter *handle);

flight/modules/StateEstimation/stateestimation.c

@@ -36,7 +36,7 @@
 #include <magsensor.h>
 #include <barosensor.h>
 #include <airspeedsensor.h>
-#include <positionsensor.h>
+#include <gpspositionsensor.h>
 #include <gpsvelocitysensor.h>
 
 #include <gyrostate.h>
@@ -125,6 +125,7 @@ static stateFilter magFilter;
 static stateFilter baroFilter;
 static stateFilter airFilter;
 static stateFilter stationaryFilter;
+static stateFilter llaFilter;
 static stateFilter cfFilter;
 static stateFilter cfmFilter;
 static stateFilter ekf13iFilter;
@@ -136,11 +137,14 @@ static filterPipeline *cfQueue = &(filterPipeline) {
     .next   = &(filterPipeline) {
         .filter = &airFilter,
         .next   = &(filterPipeline) {
-            .filter = &baroFilter,
+            .filter = &llaFilter,
             .next   = &(filterPipeline) {
-                .filter = &cfFilter,
+                .filter = &baroFilter,
-                .next   = NULL,
+                .next   = &(filterPipeline) {
-            },
+                    .filter = &cfFilter,
+                    .next   = NULL,
+                }
+            }
         }
     }
 };
@@ -149,10 +153,13 @@ static const filterPipeline *cfmQueue = &(filterPipeline) {
     .next   = &(filterPipeline) {
         .filter = &airFilter,
         .next   = &(filterPipeline) {
-            .filter = &baroFilter,
+            .filter = &llaFilter,
             .next   = &(filterPipeline) {
-                .filter = &cfmFilter,
+                .filter = &baroFilter,
-                .next   = NULL,
+                .next   = &(filterPipeline) {
+                    .filter = &cfmFilter,
+                    .next   = NULL,
+                }
             }
         }
     }
@@ -162,12 +169,15 @@ static const filterPipeline *ekf13iQueue = &(filterPipeline) {
     .next   = &(filterPipeline) {
         .filter = &airFilter,
         .next   = &(filterPipeline) {
-            .filter = &baroFilter,
+            .filter = &llaFilter,
             .next   = &(filterPipeline) {
-                .filter = &stationaryFilter,
+                .filter = &baroFilter,
                 .next   = &(filterPipeline) {
-                    .filter = &ekf13iFilter,
+                    .filter = &stationaryFilter,
-                    .next   = NULL,
+                    .next   = &(filterPipeline) {
+                        .filter = &ekf13iFilter,
+                        .next   = NULL,
+                    }
                 }
             }
         }
@@ -178,10 +188,13 @@ static const filterPipeline *ekf13Queue = &(filterPipeline) {
     .next   = &(filterPipeline) {
         .filter = &airFilter,
         .next   = &(filterPipeline) {
-            .filter = &baroFilter,
+            .filter = &llaFilter,
             .next   = &(filterPipeline) {
-                .filter = &ekf13Filter,
+                .filter = &baroFilter,
-                .next   = NULL,
+                .next   = &(filterPipeline) {
+                    .filter = &ekf13Filter,
+                    .next   = NULL,
+                }
             }
         }
     }
@@ -213,8 +226,8 @@ int32_t StateEstimationInitialize(void)
     MagSensorInitialize();
     BaroSensorInitialize();
     AirspeedSensorInitialize();
-    PositionSensorInitialize();
     GPSVelocitySensorInitialize();
+    GPSPositionSensorInitialize();
 
     GyroStateInitialize();
     AccelStateInitialize();
@@ -230,8 +243,8 @@ int32_t StateEstimationInitialize(void)
     MagSensorConnectCallback(&sensorUpdatedCb);
     BaroSensorConnectCallback(&sensorUpdatedCb);
     AirspeedSensorConnectCallback(&sensorUpdatedCb);
-    PositionSensorConnectCallback(&sensorUpdatedCb);
     GPSVelocitySensorConnectCallback(&sensorUpdatedCb);
+    GPSPositionSensorConnectCallback(&sensorUpdatedCb);
 
     uint32_t stack_required = STACK_SIZE_BYTES;
     // Initialize Filters
@@ -239,6 +252,7 @@ int32_t StateEstimationInitialize(void)
     stack_required = maxint32_t(stack_required, filterBaroInitialize(&baroFilter));
     stack_required = maxint32_t(stack_required, filterAirInitialize(&airFilter));
     stack_required = maxint32_t(stack_required, filterStationaryInitialize(&stationaryFilter));
+    stack_required = maxint32_t(stack_required, filterLLAInitialize(&llaFilter));
     stack_required = maxint32_t(stack_required, filterCFInitialize(&cfFilter));
     stack_required = maxint32_t(stack_required, filterCFMInitialize(&cfmFilter));
     stack_required = maxint32_t(stack_required, filterEKF13iInitialize(&ekf13iFilter));
@@ -353,11 +367,11 @@ static void StateEstimationCb(void)
         FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_3_DIMENSIONS(GyroSensor, gyro, x, y, z);
         FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_3_DIMENSIONS(AccelSensor, accel, x, y, z);
         FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_3_DIMENSIONS(MagSensor, mag, x, y, z);
-        FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_3_DIMENSIONS(PositionSensor, pos, North, East, Down);
         FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_3_DIMENSIONS(GPSVelocitySensor, vel, North, East, Down);
         FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_1_DIMENSION_WITH_CUSTOM_EXTRA_CHECK(BaroSensor, baro, Altitude, true);
         FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_1_DIMENSION_WITH_CUSTOM_EXTRA_CHECK(AirspeedSensor, airspeed, CalibratedAirspeed, s.SensorConnected == AIRSPEEDSENSOR_SENSORCONNECTED_TRUE);
         states.airspeed[1] = 0.0f; // sensor does not provide true airspeed, needs to be calculated by filter, set to zero for now
+        // GPS position data (LLA) is not fetched here since it does not contain floats. The filter must do all checks itself
 
         // at this point sensor state is stored in "states" with some rudimentary filtering applied
 
@@ -475,8 +489,8 @@ static void sensorUpdatedCb(UAVObjEvent *ev)
         updatedSensors |= SENSORUPDATES_mag;
     }
 
-    if (ev->obj == PositionSensorHandle()) {
+    if (ev->obj == GPSPositionSensorHandle()) {
-        updatedSensors |= SENSORUPDATES_pos;
+        updatedSensors |= SENSORUPDATES_lla;
     }
 
     if (ev->obj == GPSVelocitySensorHandle()) {

flight/targets/boards/coptercontrol/firmware/Makefile

@@ -101,6 +101,7 @@ ifndef TESTAPP
     SRC += $(OPUAVSYNTHDIR)/cameradesired.c
     SRC += $(OPUAVSYNTHDIR)/gpspositionsensor.c
     SRC += $(OPUAVSYNTHDIR)/gpsvelocitysensor.c
+    SRC += $(OPUAVSYNTHDIR)/gpssettings.c
     SRC += $(OPUAVSYNTHDIR)/hwsettings.c
     SRC += $(OPUAVSYNTHDIR)/gcsreceiver.c
     SRC += $(OPUAVSYNTHDIR)/receiveractivity.c

flight/targets/boards/osd/firmware/Makefile

@@ -91,6 +91,7 @@ ifndef TESTAPP
     SRC += $(OPUAVSYNTHDIR)/gpssatellites.c
     SRC += $(OPUAVSYNTHDIR)/gpsvelocitysensor.c
     SRC += $(OPUAVSYNTHDIR)/gpstime.c
+    SRC += $(OPUAVSYNTHDIR)/gpssettings.c
     SRC += $(OPUAVSYNTHDIR)/osdsettings.c
     SRC += $(OPUAVSYNTHDIR)/barosensor.c
     SRC += $(OPUAVSYNTHDIR)/magsensor.c

flight/targets/boards/revolution/firmware/UAVObjects.inc

@@ -49,6 +49,7 @@ UAVOBJSRCFILENAMES += gpspositionsensor
 UAVOBJSRCFILENAMES += gpssatellites
 UAVOBJSRCFILENAMES += gpstime
 UAVOBJSRCFILENAMES += gpsvelocitysensor
+UAVOBJSRCFILENAMES += gpssettings
 UAVOBJSRCFILENAMES += fixedwingpathfollowersettings
 UAVOBJSRCFILENAMES += fixedwingpathfollowerstatus
 UAVOBJSRCFILENAMES += vtolpathfollowersettings
@@ -65,7 +66,6 @@ UAVOBJSRCFILENAMES += overosyncsettings
 UAVOBJSRCFILENAMES += pathaction
 UAVOBJSRCFILENAMES += pathdesired
 UAVOBJSRCFILENAMES += pathstatus
-UAVOBJSRCFILENAMES += positionsensor
 UAVOBJSRCFILENAMES += positionstate
 UAVOBJSRCFILENAMES += ratedesired
 UAVOBJSRCFILENAMES += relaytuning

flight/targets/boards/revoproto/firmware/UAVObjects.inc

@@ -54,6 +54,7 @@ UAVOBJSRCFILENAMES += gpspositionsensor
 UAVOBJSRCFILENAMES += gpssatellites
 UAVOBJSRCFILENAMES += gpstime
 UAVOBJSRCFILENAMES += gpsvelocitysensor
+UAVOBJSRCFILENAMES += gpssettings
 UAVOBJSRCFILENAMES += fixedwingpathfollowersettings
 UAVOBJSRCFILENAMES += fixedwingpathfollowerstatus
 UAVOBJSRCFILENAMES += vtolpathfollowersettings
@@ -70,7 +71,6 @@ UAVOBJSRCFILENAMES += overosyncsettings
 UAVOBJSRCFILENAMES += pathaction
 UAVOBJSRCFILENAMES += pathdesired
 UAVOBJSRCFILENAMES += pathstatus
-UAVOBJSRCFILENAMES += positionsensor
 UAVOBJSRCFILENAMES += positionstate
 UAVOBJSRCFILENAMES += ratedesired
 UAVOBJSRCFILENAMES += relaytuning

flight/targets/boards/simposix/firmware/UAVObjects.inc

@@ -54,6 +54,7 @@ UAVOBJSRCFILENAMES += gpspositionsensor
 UAVOBJSRCFILENAMES += gpssatellites
 UAVOBJSRCFILENAMES += gpstime
 UAVOBJSRCFILENAMES += gpsvelocitysensor
+UAVOBJSRCFILENAMES += gpssettings
 UAVOBJSRCFILENAMES += vtolpathfollowersettings
 UAVOBJSRCFILENAMES += fixedwingpathfollowersettings
 UAVOBJSRCFILENAMES += fixedwingpathfollowerstatus
@@ -69,7 +70,6 @@ UAVOBJSRCFILENAMES += overosyncstats
 UAVOBJSRCFILENAMES += pathaction
 UAVOBJSRCFILENAMES += pathdesired
 UAVOBJSRCFILENAMES += pathstatus
-UAVOBJSRCFILENAMES += positionsensor
 UAVOBJSRCFILENAMES += positionstate
 UAVOBJSRCFILENAMES += ratedesired
 UAVOBJSRCFILENAMES += revocalibration

ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro

@@ -62,11 +62,11 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
     $$UAVOBJECT_SYNTHETICS/gpspositionsensor.h \
     $$UAVOBJECT_SYNTHETICS/gpstime.h \
     $$UAVOBJECT_SYNTHETICS/gpssatellites.h \
+    $$UAVOBJECT_SYNTHETICS/gpssettings.h \
     $$UAVOBJECT_SYNTHETICS/pathaction.h \
     $$UAVOBJECT_SYNTHETICS/pathdesired.h \
     $$UAVOBJECT_SYNTHETICS/pathstatus.h \
     $$UAVOBJECT_SYNTHETICS/gpsvelocitysensor.h \
-    $$UAVOBJECT_SYNTHETICS/positionsensor.h \
     $$UAVOBJECT_SYNTHETICS/positionstate.h \
     $$UAVOBJECT_SYNTHETICS/flightbatterystate.h \
     $$UAVOBJECT_SYNTHETICS/homelocation.h \
@@ -147,11 +147,11 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
     $$UAVOBJECT_SYNTHETICS/gpspositionsensor.cpp \
     $$UAVOBJECT_SYNTHETICS/gpstime.cpp \
     $$UAVOBJECT_SYNTHETICS/gpssatellites.cpp \
+    $$UAVOBJECT_SYNTHETICS/gpssettings.cpp \
     $$UAVOBJECT_SYNTHETICS/pathaction.cpp \
     $$UAVOBJECT_SYNTHETICS/pathdesired.cpp \
     $$UAVOBJECT_SYNTHETICS/pathstatus.cpp \
     $$UAVOBJECT_SYNTHETICS/gpsvelocitysensor.cpp \
-    $$UAVOBJECT_SYNTHETICS/positionsensor.cpp \
     $$UAVOBJECT_SYNTHETICS/positionstate.cpp \
     $$UAVOBJECT_SYNTHETICS/flightbatterystate.cpp \
     $$UAVOBJECT_SYNTHETICS/homelocation.cpp \

shared/uavobjectdefinition/positionsensor.xml

@@ -1,12 +0,0 @@
-<xml>
-    <object name="PositionSensor" singleinstance="true" settings="false" category="Sensors">
-        <description>Contains the position in NED frame measured relative to @ref HomeLocation.</description>
-        <field name="North" units="m" type="float" elements="1"/>
-        <field name="East" units="m" type="float" elements="1"/>
-        <field name="Down" units="m" type="float" elements="1"/>
-        <access gcs="readwrite" flight="readwrite"/>
-        <telemetrygcs acked="false" updatemode="manual" period="0"/>
-        <telemetryflight acked="false" updatemode="periodic" period="1000"/>
-        <logging updatemode="periodic" period="1000"/>
-    </object>
-</xml>