Merged in TheOtherCliff/librepilot/theothercliff/LP-212_Support_DJI_GPS_mag_combo (pull request #173)

LP-212 DJI GPSMag support

flight/libraries/auxmagsupport.c

@@ -2,7 +2,8 @@
  ******************************************************************************
  *
  * @file       auxmagsupport.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
  * @brief      Functions to handle aux mag data and calibration.
  *             --
  * @see        The GNU Public License (GPL) Version 3
@@ -57,6 +58,10 @@ void auxmagsupport_reload_settings()
 
     // GPSV9, Ext (unused), and Flexi
     AuxMagSettingsTypeGet(&option);
+
+    const uint8_t status = AUXMAGSENSOR_STATUS_NONE;
+    // next sample from other external mags will provide the right status if present
+    AuxMagSensorStatusSet((uint8_t *)&status);
 }
 
 void auxmagsupport_publish_samples(float mags[3], uint8_t status)

flight/modules/GPS/DJI.c

@@ -0,0 +1,408 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{
+ * @addtogroup GSPModule GPS Module
+ * @brief Process GPS information (DJI-Naza binary format)
+ * @{
+ *
+ * @file       DJI.c
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
+ * @brief      GPS module, handles DJI stream
+ * @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 "openpilot.h"
+#include "pios.h"
+#include "pios_math.h"
+#include <pios_helpers.h>
+#include <pios_delay.h>
+
+#if defined(PIOS_INCLUDE_GPS_DJI_PARSER)
+
+#include "inc/DJI.h"
+#include "inc/GPS.h"
+#include <string.h>
+#include <auxmagsupport.h>
+
+// parsing functions
+static void parse_dji_gps(struct DJIPacket *dji, GPSPositionSensorData *gpsPosition);
+#if !defined(PIOS_GPS_MINIMAL)
+static void parse_dji_mag(struct DJIPacket *dji, GPSPositionSensorData *gpsPosition);
+static void parse_dji_ver(struct DJIPacket *dji, GPSPositionSensorData *gpsPosition);
+#endif /* !defined(PIOS_GPS_MINIMAL) */
+
+static bool checksum_dji_message(struct DJIPacket *dji);
+static uint32_t parse_dji_message(struct DJIPacket *dji, GPSPositionSensorData *gpsPosition);
+
+// parse table item
+typedef struct {
+    uint8_t msgId;
+    void (*handler)(struct DJIPacket *dji, GPSPositionSensorData *gpsPosition);
+} djiMessageHandler;
+
+const djiMessageHandler djiHandlerTable[] = {
+    { .msgId = DJI_ID_GPS, .handler = &parse_dji_gps },
+#if !defined(PIOS_GPS_MINIMAL)
+    { .msgId = DJI_ID_MAG, .handler = &parse_dji_mag },
+    { .msgId = DJI_ID_VER, .handler = &parse_dji_ver },
+#endif /* !defined(PIOS_GPS_MINIMAL) */
+};
+#define DJI_HANDLER_TABLE_SIZE NELEMENTS(djiHandlerTable)
+
+#if !defined(PIOS_GPS_MINIMAL)
+static bool useMag    = false;
+
+// detected hw version
+uint32_t djiHwVersion = -1;
+uint32_t djiSwVersion = -1;
+#endif /* !defined(PIOS_GPS_MINIMAL) */
+
+
+// parse incoming character stream for messages in DJI binary format
+#define djiPacket ((struct DJIPacket *)parsedDjiStruct)
+int parse_dji_stream(uint8_t *inputBuffer, uint16_t inputBufferLength, char *parsedDjiStruct, GPSPositionSensorData *gpsPosition, struct GPS_RX_STATS *gpsRxStats)
+{
+    enum ProtocolStates {
+        START,
+        DJI_SY2,
+        DJI_ID,
+        DJI_LEN,
+        DJI_PAYLOAD,
+        DJI_CHK1,
+        DJI_CHK2,
+        FINISHED
+    };
+    enum RestartStates {
+        RESTART_WITH_ERROR,
+        RESTART_NO_ERROR
+    };
+    static uint16_t payloadCount   = 0;
+    static enum ProtocolStates protocolState = START;
+    static bool previousPacketGood = true;
+    int ret = PARSER_INCOMPLETE; // message not (yet) complete
+    uint16_t inputBufferIndex = 0;
+    uint16_t restartIndex     = 0;  // input buffer location to restart from
+    enum RestartStates restartState;
+    uint8_t inputByte;
+    bool currentPacketGood;
+
+    // switch continue is the normal condition and comes back to here for another byte
+    // switch break is the error state that branches to the end and restarts the scan at the byte after the first sync byte
+    while (inputBufferIndex < inputBufferLength) {
+        inputByte = inputBuffer[inputBufferIndex++];
+        switch (protocolState) {
+        case START: // detect protocol
+            if (inputByte == DJI_SYNC1) { // first DJI sync char found
+                protocolState = DJI_SY2;
+                // restart here, at byte after SYNC1, if we fail to parse
+                restartIndex  = inputBufferIndex;
+            }
+            continue;
+        case DJI_SY2:
+            if (inputByte == DJI_SYNC2) { // second DJI sync char found
+                protocolState = DJI_ID;
+            } else {
+                restartState = RESTART_NO_ERROR;
+                break;
+            }
+            continue;
+        case DJI_ID:
+            djiPacket->header.id = inputByte;
+            protocolState = DJI_LEN;
+            continue;
+        case DJI_LEN:
+            if (inputByte > sizeof(DJIPayload)) {
+                gpsRxStats->gpsRxOverflow++;
+                restartState = RESTART_WITH_ERROR;
+                break;
+            } else {
+                djiPacket->header.len = inputByte;
+                if (inputByte == 0) {
+                    protocolState = DJI_CHK1;
+                } else {
+                    payloadCount  = 0;
+                    protocolState = DJI_PAYLOAD;
+                }
+            }
+            continue;
+        case DJI_PAYLOAD:
+            if (payloadCount < djiPacket->header.len) {
+                djiPacket->payload.payload[payloadCount] = inputByte;
+                if (++payloadCount == djiPacket->header.len) {
+                    protocolState = DJI_CHK1;
+                }
+            }
+            continue;
+        case DJI_CHK1:
+            djiPacket->header.checksumA = inputByte;
+            protocolState = DJI_CHK2;
+            continue;
+        case DJI_CHK2:
+            djiPacket->header.checksumB = inputByte;
+            // ignore checksum errors on correct mag packets that nonetheless have checksum errors
+            // these checksum errors happen very often on clone DJI GPS (never on real DJI GPS)
+            // and are caused by a clone DJI GPS firmware error
+            // the errors happen when it is time to send a non-mag packet (4 or 5 per second)
+            // instead of a mag packet (30 per second)
+            currentPacketGood = checksum_dji_message(djiPacket);
+            // message complete and valid or (it's a mag packet and the previous "any" packet was good)
+            if (currentPacketGood || (djiPacket->header.id == DJI_ID_MAG && previousPacketGood)) {
+                parse_dji_message(djiPacket, gpsPosition);
+                gpsRxStats->gpsRxReceived++;
+                protocolState = START;
+                // overwrite PARSER_INCOMPLETE with PARSER_COMPLETE
+                // but don't overwrite PARSER_ERROR with PARSER_COMPLETE
+                // pass PARSER_ERROR to caller if it happens even once
+                // only pass PARSER_COMPLETE back to caller if we parsed a full set of GPS data
+                // that allows the caller to know if we are parsing GPS data
+                // or just other packets for some reason (DJI clone firmware bug that happens sometimes)
+                if (djiPacket->header.id == DJI_ID_GPS && ret == PARSER_INCOMPLETE) {
+                    ret = PARSER_COMPLETE; // message complete & processed
+                }
+            } else {
+                gpsRxStats->gpsRxChkSumError++;
+                restartState = RESTART_WITH_ERROR;
+                previousPacketGood = false;
+                break;
+            }
+            previousPacketGood = currentPacketGood;
+            continue;
+        default:
+            continue;
+        }
+
+        // this simple restart doesn't work across calls
+        // but it does work within a single call
+        // and it does the expected thing across calls
+        // if restarting due to error detected in 2nd call to this function (on split packet)
+        // then we just restart at index 0, which is mid-packet, not the second byte
+        if (restartState == RESTART_WITH_ERROR) {
+            ret = PARSER_ERROR; // inform caller that we found at least one error (along with 0 or more good packets)
+        }
+        inputBuffer       += restartIndex; // restart parsing just past the most recent SYNC1
+        inputBufferLength -= restartIndex;
+        inputBufferIndex   = 0;
+        protocolState      = START;
+    }
+
+    return ret;
+}
+
+
+bool checksum_dji_message(struct DJIPacket *dji)
+{
+    int i;
+    uint8_t checksumA, checksumB;
+
+    checksumA  = dji->header.id;
+    checksumB  = checksumA;
+
+    checksumA += dji->header.len;
+    checksumB += checksumA;
+
+    for (i = 0; i < dji->header.len; i++) {
+        checksumA += dji->payload.payload[i];
+        checksumB += checksumA;
+    }
+
+    if (dji->header.checksumA == checksumA &&
+        dji->header.checksumB == checksumB) {
+        return true;
+    } else {
+        return false;
+    }
+}
+
+
+static void parse_dji_gps(struct DJIPacket *dji, GPSPositionSensorData *gpsPosition)
+{
+    GPSVelocitySensorData gpsVelocity;
+    struct DjiGps *djiGps = &dji->payload.gps;
+
+    // decode with xor mask
+    uint8_t mask = djiGps->unused5;
+
+    // some bytes at the end are not xored
+    // some bytes in the middle are not xored
+    for (uint8_t i = 0; i < GPS_DECODED_LENGTH; ++i) {
+        if (i != GPS_NOT_XORED_BYTE_1 && i != GPS_NOT_XORED_BYTE_2) {
+            dji->payload.payload[i] ^= mask;
+        }
+    }
+
+    gpsVelocity.North = (float)djiGps->velN * 0.01f;
+    gpsVelocity.East  = (float)djiGps->velE * 0.01f;
+    gpsVelocity.Down  = (float)djiGps->velD * 0.01f;
+    GPSVelocitySensorSet(&gpsVelocity);
+
+#if !defined(PIOS_GPS_MINIMAL)
+    gpsPosition->Groundspeed = sqrtf(gpsVelocity.North * gpsVelocity.North + gpsVelocity.East * gpsVelocity.East);
+#else
+    gpsPosition->Groundspeed = fmaxf(gpsVelocity.North, gpsVelocity.East) * 1.2f; // within 20% or so
+#endif /* !defined(PIOS_GPS_MINIMAL) */
+    // don't allow a funny number like 4.87416e-06 to show up in Uavo Browser for Heading
+    // smallest groundspeed is 0.01f from (int)1 * (float)0.01
+    // so this is saying if groundspeed is zero
+    if (gpsPosition->Groundspeed < 0.009f) {
+        gpsPosition->Heading = 0.0f;
+    } else {
+        gpsPosition->Heading = RAD2DEG(atan2f(-gpsVelocity.East, -gpsVelocity.North)) + 180.0f;
+    }
+    gpsPosition->Altitude = (float)djiGps->hMSL * 0.001f;
+    // there is no source of geoid separation data in the DJI protocol
+    // Is there a reasonable world model calculation we can do to get a value for geoid separation?
+    gpsPosition->GeoidSeparation = 0.0f;
+    gpsPosition->Latitude   = djiGps->lat;
+    gpsPosition->Longitude  = djiGps->lon;
+    gpsPosition->Satellites = djiGps->numSV;
+    gpsPosition->PDOP = djiGps->pDOP * 0.01f;
+#if !defined(PIOS_GPS_MINIMAL)
+    gpsPosition->HDOP = sqrtf((float)djiGps->nDOP * (float)djiGps->nDOP + (float)djiGps->eDOP * (float)djiGps->eDOP) * 0.01f;
+    if (gpsPosition->HDOP > 99.99f) {
+        gpsPosition->HDOP = 99.99f;
+    }
+#else
+    gpsPosition->HDOP = MAX(djiGps->nDOP, djiGps->eDOP) * 0.01f;
+#endif
+    gpsPosition->VDOP = djiGps->vDOP * 0.01f;
+    if (djiGps->flags & FLAGS_GPSFIX_OK) {
+        gpsPosition->Status = djiGps->fixType == FIXTYPE_3D ?
+                              GPSPOSITIONSENSOR_STATUS_FIX3D : GPSPOSITIONSENSOR_STATUS_FIX2D;
+    } else {
+        gpsPosition->Status = GPSPOSITIONSENSOR_STATUS_NOFIX;
+    }
+    gpsPosition->SensorType = GPSPOSITIONSENSOR_SENSORTYPE_DJI;
+    gpsPosition->AutoConfigStatus = GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_DISABLED;
+    GPSPositionSensorSet(gpsPosition);
+
+#if !defined(PIOS_GPS_MINIMAL)
+    // Time is valid, set GpsTime
+    GPSTimeData gpsTime;
+    // the lowest bit of day and the highest bit of hour overlap (xored? no, stranger than that)
+    // this causes strange day/hour changes
+    // we could track it here and even if we guess wrong initially
+    // we can massage the data so that time doesn't jump at least
+    // and maybe make the assumption that most people will fly at 5pm, not 1am
+    // this is part of the DJI protocol
+    // see DJI.h for further info
+    gpsTime.Year   = (int16_t)djiGps->year + 2000;
+    gpsTime.Month  = djiGps->month;
+    gpsTime.Day    = djiGps->day;
+    gpsTime.Hour   = djiGps->hour;
+    gpsTime.Minute = djiGps->min;
+    gpsTime.Second = djiGps->sec;
+    GPSTimeSet(&gpsTime);
+#endif /* !defined(PIOS_GPS_MINIMAL) */
+}
+
+
+#if !defined(PIOS_GPS_MINIMAL)
+void dji_load_mag_settings()
+{
+    if (auxmagsupport_get_type() == AUXMAGSETTINGS_TYPE_DJI) {
+        useMag = true;
+    } else {
+        useMag = false;
+    }
+}
+
+
+static void parse_dji_mag(struct DJIPacket *dji, __attribute__((unused)) GPSPositionSensorData *gpsPosition)
+{
+    if (!useMag) {
+        return;
+    }
+    struct DjiMag *mag = &dji->payload.mag;
+    union {
+        struct {
+            int8_t mask;
+            int8_t mask2;
+        };
+        int16_t maskmask;
+    } u;
+    u.mask = (int8_t)(dji->payload.payload[4]);
+    u.mask = u.mask2 = (((u.mask ^ (u.mask >> 4)) & 0x0F) | ((u.mask << 3) & 0xF0)) ^ (((u.mask & 0x01) << 3) | ((u.mask & 0x01) << 7));
+    // yes, z is only xored by mask<<8, not maskmask
+    float mags[3] = { mag->x ^ u.maskmask, mag->y ^ u.maskmask, mag->z ^ ((int16_t)u.mask << 8) };
+    auxmagsupport_publish_samples(mags, AUXMAGSENSOR_STATUS_OK);
+}
+
+
+static void parse_dji_ver(struct DJIPacket *dji, __attribute__((unused)) GPSPositionSensorData *gpsPosition)
+{
+    {
+        struct DjiVer *ver = &dji->payload.ver;
+        // decode with xor mask
+        uint8_t mask = (uint8_t)(ver->unused1);
+
+        // first 4 bytes are unused and 0 before the encryption
+        // so any one of them can be used for the decrypting xor mask
+        for (uint8_t i = VER_FIRST_DECODED_BYTE; i < sizeof(struct DjiVer); ++i) {
+            dji->payload.payload[i] ^= mask;
+        }
+
+        djiHwVersion = ver->hwVersion;
+        djiSwVersion = ver->swVersion;
+    }
+    {
+        GPSPositionSensorSensorTypeOptions sensorType;
+        sensorType = GPSPOSITIONSENSOR_SENSORTYPE_DJI;
+        GPSPositionSensorSensorTypeSet((uint8_t *)&sensorType);
+    }
+}
+#endif /* !defined(PIOS_GPS_MINIMAL) */
+
+
+// DJI message parser
+// returns UAVObjectID if a UAVObject structure is ready for further processing
+uint32_t parse_dji_message(struct DJIPacket *dji, GPSPositionSensorData *gpsPosition)
+{
+    static bool djiInitialized = false;
+    uint32_t id = 0;
+
+    if (!djiInitialized) {
+        // initialize dop values. If no DOP sentence is received it is safer to initialize them to a high value rather than 0.
+        gpsPosition->HDOP = 99.99f;
+        gpsPosition->PDOP = 99.99f;
+        gpsPosition->VDOP = 99.99f;
+        djiInitialized    = true;
+    }
+
+    for (uint8_t i = 0; i < DJI_HANDLER_TABLE_SIZE; i++) {
+        const djiMessageHandler *handler = &djiHandlerTable[i];
+        if (handler->msgId == dji->header.id) {
+            handler->handler(dji, gpsPosition);
+            break;
+        }
+    }
+
+    {
+        uint8_t status;
+        GPSPositionSensorStatusGet(&status);
+        if (status == GPSPOSITIONSENSOR_STATUS_NOGPS) {
+            // Some dji thing has been received so GPS is there
+            status = GPSPOSITIONSENSOR_STATUS_NOFIX;
+            GPSPositionSensorStatusSet(&status);
+        }
+    }
+
+    return id;
+}
+#endif // PIOS_INCLUDE_GPS_DJI_PARSER

flight/modules/GPS/GPS.c

@@ -7,7 +7,8 @@
  * @{
  *
  * @file       GPS.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @brief      GPS module, handles GPS and NMEA stream
  * @see        The GNU Public License (GPL) Version 3
  *
@@ -48,30 +49,48 @@
 #include "GPS.h"
 #include "NMEA.h"
 #include "UBX.h"
+#include "DJI.h"
 #if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
 #include "inc/ubx_autoconfig.h"
+#define FULL_UBX_PARSER
 #endif
+#include <auxmagsupport.h>
 
 #include <pios_instrumentation_helper.h>
 PERF_DEFINE_COUNTER(counterBytesIn);
 PERF_DEFINE_COUNTER(counterRate);
 PERF_DEFINE_COUNTER(counterParse);
+
+#if defined(ANY_GPS_PARSER) || defined(ANY_FULL_GPS_PARSER) || defined(ANY_FULL_MAG_PARSER)
+#error ANY_GPS_PARSER ANY_FULL_GPS_PARSER and ANY_FULL_MAG_PARSER should all be undefined at this point.
+#endif
+
+#if defined(PIOS_INCLUDE_GPS_NMEA_PARSER) || defined(PIOS_INCLUDE_GPS_UBX_PARSER) || defined(PIOS_INCLUDE_GPS_DJI_PARSER)
+#define ANY_GPS_PARSER
+#endif
+#if defined(ANY_GPS_PARSER) && !defined(PIOS_GPS_MINIMAL)
+#define ANY_FULL_GPS_PARSER
+#endif
+#if (defined(PIOS_INCLUDE_HMC5X83) || defined(PIOS_INCLUDE_GPS_UBX_PARSER) || defined(PIOS_INCLUDE_GPS_DJI_PARSER)) && !defined(PIOS_GPS_MINIMAL)
+#define ANY_FULL_MAG_PARSER
+#endif
+
 // ****************
 // Private functions
 
 static void gpsTask(__attribute__((unused)) void *parameters);
 static void updateHwSettings(__attribute__((unused)) UAVObjEvent *ev);
 
-#ifdef PIOS_GPS_SETS_HOMELOCATION
+#if defined(PIOS_GPS_SETS_HOMELOCATION)
 static void setHomeLocation(GPSPositionSensorData *gpsData);
 static float GravityAccel(float latitude, float longitude, float altitude);
 #endif
 
-#ifdef PIOS_INCLUDE_GPS_UBX_PARSER
+#if defined(ANY_FULL_MAG_PARSER)
 void AuxMagSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev);
-#ifndef PIOS_GPS_MINIMAL
-void updateGpsSettings(__attribute__((unused)) UAVObjEvent *ev);
 #endif
+#if defined(ANY_FULL_GPS_PARSER)
+void updateGpsSettings(__attribute__((unused)) UAVObjEvent *ev);
 #endif
 
 // ****************
@@ -124,7 +143,7 @@ static char *gps_rx_buffer;
 
 static uint32_t timeOfLastUpdateMs;
 
-#if defined(PIOS_INCLUDE_GPS_NMEA_PARSER) || defined(PIOS_INCLUDE_GPS_UBX_PARSER)
+#if defined(ANY_GPS_PARSER)
 static struct GPS_RX_STATS gpsRxStats;
 #endif
 
@@ -178,7 +197,7 @@ int32_t GPSInitialize(void)
     GPSTimeInitialize();
     GPSSatellitesInitialize();
     HomeLocationInitialize();
-#ifdef PIOS_INCLUDE_GPS_UBX_PARSER
+#if defined(ANY_FULL_MAG_PARSER)
     AuxMagSensorInitialize();
     AuxMagSettingsInitialize();
     GPSExtendedStatusInitialize();
@@ -212,19 +231,40 @@ int32_t GPSInitialize(void)
 #endif /* if defined(REVOLUTION) */
 
     if (gpsEnabled) {
-#if defined(PIOS_INCLUDE_GPS_NMEA_PARSER) && defined(PIOS_INCLUDE_GPS_UBX_PARSER)
+#if defined(PIOS_GPS_MINIMAL)
-        gps_rx_buffer = pios_malloc((sizeof(struct UBXPacket) > NMEA_MAX_PACKET_LENGTH) ? sizeof(struct UBXPacket) : NMEA_MAX_PACKET_LENGTH);
+#if defined(PIOS_INCLUDE_GPS_UBX_PARSER)
-#elif defined(PIOS_INCLUDE_GPS_UBX_PARSER)
         gps_rx_buffer = pios_malloc(sizeof(struct UBXPacket));
-#elif defined(PIOS_INCLUDE_GPS_NMEA_PARSER)
+#elif defined(PIOS_INCLUDE_GPS_DJI_PARSER)
-        gps_rx_buffer = pios_malloc(NMEA_MAX_PACKET_LENGTH);
+        gps_rx_buffer = pios_malloc(sizeof(struct DJIPacket));
 #else
         gps_rx_buffer = NULL;
 #endif
-#if defined(PIOS_INCLUDE_GPS_NMEA_PARSER) || defined(PIOS_INCLUDE_GPS_UBX_PARSER)
+#else /* defined(PIOS_GPS_MINIMAL) */
+#if defined(ANY_GPS_PARSER)
+#if defined(PIOS_INCLUDE_GPS_NMEA_PARSER)
+        size_t bufSize = NMEA_MAX_PACKET_LENGTH;
+#else
+        size_t bufSize = 0;
+#endif
+#if defined(PIOS_INCLUDE_GPS_UBX_PARSER)
+        if (bufSize < sizeof(struct UBXPacket)) {
+            bufSize = sizeof(struct UBXPacket);
+        }
+#endif
+#if defined(PIOS_INCLUDE_GPS_DJI_PARSER)
+        if (bufSize < sizeof(struct DJIPacket)) {
+            bufSize = sizeof(struct DJIPacket);
+        }
+#endif
+        gps_rx_buffer = pios_malloc(bufSize);
+#else /* defined(ANY_GPS_PARSER) */
+        gps_rx_buffer = NULL;
+#endif /* defined(ANY_GPS_PARSER) */
+#endif /* defined(PIOS_GPS_MINIMAL) */
+#if defined(ANY_GPS_PARSER)
         PIOS_Assert(gps_rx_buffer);
 #endif
-#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
+#if defined(ANY_FULL_GPS_PARSER)
         HwSettingsConnectCallback(updateHwSettings); // allow changing baud rate even after startup
         GPSSettingsConnectCallback(updateGpsSettings);
 #endif
@@ -258,10 +298,9 @@ static void gpsTask(__attribute__((unused)) void *parameters)
     GPSPositionSensorData gpspositionsensor;
 
     timeOfLastUpdateMs = timeNowMs;
-
     GPSPositionSensorGet(&gpspositionsensor);
-#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
+#if defined(ANY_FULL_GPS_PARSER)
-    // this should be done in the task because it calls out to actually start the GPS serial reads
+    // this should be done in the task because it calls out to actually start the ubx GPS serial reads
     updateGpsSettings(0);
 #endif
 
@@ -275,7 +314,7 @@ static void gpsTask(__attribute__((unused)) void *parameters)
     // Loop forever
     while (1) {
         if (gpsPort) {
-#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
+#if defined(FULL_UBX_PARSER)
             // do autoconfig stuff for UBX GPS's
             if (gpsSettings.DataProtocol == GPSSETTINGS_DATAPROTOCOL_UBX) {
                 char *buffer   = 0;
@@ -309,7 +348,7 @@ static void gpsTask(__attribute__((unused)) void *parameters)
                 GPSPositionSensorAutoConfigStatusSet(&gpspositionsensor.AutoConfigStatus);
                 lastStatus = gpspositionsensor.AutoConfigStatus;
             }
-#endif /* if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL) */
+#endif /* if defined(FULL_UBX_PARSER) */
 
             uint16_t cnt;
             int res;
@@ -330,6 +369,11 @@ static void gpsTask(__attribute__((unused)) void *parameters)
                 case GPSSETTINGS_DATAPROTOCOL_UBX:
                     res = parse_ubx_stream(c, cnt, gps_rx_buffer, &gpspositionsensor, &gpsRxStats);
                     break;
+#endif
+#if defined(PIOS_INCLUDE_GPS_DJI_PARSER)
+                case GPSSETTINGS_DATAPROTOCOL_DJI:
+                    res = parse_dji_stream(c, cnt, gps_rx_buffer, &gpspositionsensor, &gpsRxStats);
+                    break;
 #endif
                 default:
                     res = NO_PARSER; // this should not happen
@@ -343,8 +387,13 @@ static void gpsTask(__attribute__((unused)) void *parameters)
                 }
             }
 
-            // if there is any error at all, set status to NOGPS
+            // if there is a protocol error or communication error, or timeout error,
-            // Check for GPS timeout
+            // generally, if there is an error that is due to configuration or bad hardware, set status to NOGPS
+            // poor GPS signal gets a different error/alarm (below)
+            //
+            // should this be expanded to include aux mag status as well? currently the aux mag
+            // attached to a GPS protocol (OPV9 and DJI) still says OK after the GPS/mag goes down
+            // (data cable unplugged or flight battery removed with USB still powering the FC)
             timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
             if ((res == PARSER_ERROR) ||
                 (timeNowMs - timeOfLastUpdateMs) >= GPS_TIMEOUT_MS ||
@@ -356,10 +405,15 @@ static void gpsTask(__attribute__((unused)) void *parameters)
                 AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_ERROR);
             }
             // if we parsed at least one packet successfully
+            // we aren't offline, but we still may not have a good enough fix to fly
+            // or we might not even be receiving all necessary GPS packets (NMEA)
             else if (res == PARSER_COMPLETE) {
-                // we appear to be receiving GPS sentences OK, we've had an update
+                // we appear to be receiving packets OK
                 // criteria for GPS-OK taken from this post...
                 // http://forums.openpilot.org/topic/1523-professors-insgps-in-svn/page__view__findpost__p__5220
+                // NMEA doesn't verify that all necessary packet types for an update have been received
+                //
+                // if (the fix is good) {
                 if ((gpspositionsensor.PDOP < gpsSettings.MaxPDOP) && (gpspositionsensor.Satellites >= gpsSettings.MinSatellites) &&
                     (gpspositionsensor.Status == GPSPOSITIONSENSOR_STATUS_FIX3D) &&
                     (gpspositionsensor.Latitude != 0 || gpspositionsensor.Longitude != 0)) {
@@ -380,9 +434,11 @@ static void gpsTask(__attribute__((unused)) void *parameters)
                         homelocationSetDelay = 0;
                     }
 #endif
+                    // else if (we are at least getting what might be usable GPS data to finish a flight with) {
                 } else if ((gpspositionsensor.Status == GPSPOSITIONSENSOR_STATUS_FIX3D) &&
                            (gpspositionsensor.Latitude != 0 || gpspositionsensor.Longitude != 0)) {
                     AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_WARNING);
+                    // else data is probably not good enough to fly
                 } else {
                     AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_CRITICAL);
                 }
@@ -498,72 +554,120 @@ void gps_set_fc_baud_from_arg(uint8_t baud)
 }
 
 
+// set the FC port baud rate
+// from HwSettings or override with 115200 if DJI
+static void gps_set_fc_baud_from_settings()
+{
+    uint8_t speed;
+
+    // Retrieve settings
+#if defined(PIOS_INCLUDE_GPS_DJI_PARSER) && !defined(PIOS_GPS_MINIMAL)
+    if (gpsSettings.DataProtocol == GPSSETTINGS_DATAPROTOCOL_DJI) {
+        speed = HWSETTINGS_GPSSPEED_115200;
+    } else {
+#endif
+    HwSettingsGPSSpeedGet(&speed);
+#if defined(PIOS_INCLUDE_GPS_DJI_PARSER) && !defined(PIOS_GPS_MINIMAL)
+}
+#endif
+    // set fc baud
+    gps_set_fc_baud_from_arg(speed);
+}
+
+
 /**
- * Update the GPS settings, called on startup.
+ * HwSettings callback
- * FIXME: This should be in the GPSSettings object. But objects have
+ * Generally speaking, set the FC baud rate
- * too much overhead yet. Also the GPS has no any specific settings
+ * and for UBX, if it is safe, start the auto config process
- * like protocol, etc. Thus the HwSettings object which contains the
+ * this allows the user to change the baud rate and see if it works without rebooting
- * GPS port speed is used for now.
  */
 
 // must updateHwSettings() before updateGpsSettings() so baud rate is set before GPS serial code starts running
 static void updateHwSettings(UAVObjEvent __attribute__((unused)) *ev)
 {
-#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
+#if defined(ANY_FULL_GPS_PARSER)
     static uint32_t previousGpsPort = 0xf0f0f0f0; // = doesn't match gpsport
 #endif
     // if GPS (UBX or NMEA) is enabled at all
     if (gpsPort && gpsEnabled) {
+// if we have ubx auto config then sometimes we don't set the baud rate
+#if defined(FULL_UBX_PARSER)
+        // just for UBX, because it has autoconfig
+        // if in startup, or not configured to do ubx and ubx auto config
+        //
         // on first use of this port (previousGpsPort != gpsPort) we must set the Revo port baud rate
         // after startup (previousGpsPort == gpsPort) we must set the Revo port baud rate only if autoconfig is disabled
         // always we must set the Revo port baud rate if not using UBX
-#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
         if (ev == NULL
             || previousGpsPort != gpsPort
             || gpsSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_DISABLED
             || gpsSettings.DataProtocol != GPSSETTINGS_DATAPROTOCOL_UBX)
-#endif
+#endif /* defined(FULL_UBX_PARSER) */
         {
-            uint8_t speed;
+            // always set the baud rate
-            // Retrieve settings
+            gps_set_fc_baud_from_settings();
-            HwSettingsGPSSpeedGet(&speed);
+#if defined(FULL_UBX_PARSER)
-            // set fc baud
+            // just for UBX, because it has subtypes UBX(6), UBX7 and UBX8
-            gps_set_fc_baud_from_arg(speed);
+            // changing anything in HwSettings will make it re-verify the sensor type (including auto-baud if not completely disabled)
-#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
+            // for auto baud disabled, the user can just try some baud rates and when the baud rate is correct, the sensor type becomes valid
-            // even changing the baud rate will make it re-verify the sensor type
-            // that way the user can just try some baud rates and when the sensor type is valid, the baud rate is correct
             gps_ubx_reset_sensor_type();
-#endif
+#endif /* defined(FULL_UBX_PARSER) */
         }
-#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
+#if defined(FULL_UBX_PARSER)
         else {
-            // it will never do this during startup because ev == NULL
+            // else:
+            // - we are past startup
+            // - we are running uxb protocol
+            // - and some form of ubx auto config is enabled
+            //
+            // it will never do this during startup because ev == NULL during startup
+            //
+            // this is here so that runtime (not startup) user changes to HwSettings will restart auto-config
             gps_ubx_autoconfig_set(NULL);
         }
-#endif
+#endif /* defined(FULL_UBX_PARSER) */
     }
-#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
+#if defined(ANY_FULL_GPS_PARSER)
     previousGpsPort = gpsPort;
 #endif
 }
 
 
-#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
+#if defined(ANY_FULL_MAG_PARSER)
 void AuxMagSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
 {
+    auxmagsupport_reload_settings();
+#if defined(PIOS_INCLUDE_GPS_UBX_PARSER)
     op_gpsv9_load_mag_settings();
+#endif
+#if defined(PIOS_INCLUDE_GPS_DJI_PARSER)
+    dji_load_mag_settings();
+#endif
+#if defined(PIOS_INCLUDE_HMC5X83)
+    aux_hmc5x83_load_mag_settings();
+#endif
 }
+#endif /* defined(ANY_FULL_MAG_PARSER) */
 
 
+#if defined(ANY_FULL_GPS_PARSER)
 void updateGpsSettings(__attribute__((unused)) UAVObjEvent *ev)
 {
     ubx_autoconfig_settings_t newconfig;
 
     GPSSettingsGet(&gpsSettings);
 
-    // it's OK that ubx auto config is inited and ready to go, when GPS is disabled or running NMEA
+#if defined(PIOS_INCLUDE_GPS_DJI_PARSER)
+    // each time there is a protocol change, set the baud rate
+    // so that DJI can be forced to 115200, but changing to another protocol will change the baud rate to the user specified value
+    // note that changes to HwSettings GPS baud rate are detected in the HwSettings callback,
+    // but changing to/from DJI is effectively a baud rate change because DJI is forced to be 115200
+    gps_set_fc_baud_from_settings(); // knows to force 115200 for DJI
+#endif
+
+    // it's OK that ubx auto config is inited and ready to go, when GPS is disabled or running another protocol
     // because ubx auto config never gets called
-    // setting it up completely means that if we switch from initial NMEA to UBX or disabled to enabled, that it will start normally
+    // setting it up completely means that if we switch from the other protocol to UBX or disabled to enabled, that it will start normally
     newconfig.UbxAutoConfig = gpsSettings.UbxAutoConfig;
     newconfig.navRate = gpsSettings.UbxRate;
     newconfig.dynamicModel  = gpsSettings.UbxDynamicModel == GPSSETTINGS_UBXDYNAMICMODEL_PORTABLE ? UBX_DYNMODEL_PORTABLE :
@@ -650,9 +754,22 @@ void updateGpsSettings(__attribute__((unused)) UAVObjEvent *ev)
         break;
     }
 
-    gps_ubx_autoconfig_set(&newconfig);
+// handle protocol changes and devices that have just been powered up
+#if defined(PIOS_INCLUDE_GPS_UBX_PARSER)
+    if (gpsSettings.DataProtocol == GPSSETTINGS_DATAPROTOCOL_UBX) {
+        // do whatever the user has configured for power on startup
+        // even autoconfig disabled still gets the ubx version
+        gps_ubx_autoconfig_set(&newconfig);
+    }
+#endif
+#if defined(PIOS_INCLUDE_GPS_DJI_PARSER)
+    if (gpsSettings.DataProtocol == GPSSETTINGS_DATAPROTOCOL_DJI) {
+        // clear out satellite data because DJI doesn't provide it
+        GPSSatellitesSetDefaults(GPSSatellitesHandle(), 0);
+    }
+#endif
 }
-#endif /* if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL) */
+#endif /* defined(ANY_FULL_GPS_PARSER) */
 /**
  * @}
  * @}

flight/modules/GPS/NMEA.c

@@ -7,7 +7,8 @@
  * @{
  *
  * @file       NMEA.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @brief      GPS module, handles GPS and NMEA stream
  * @see        The GNU Public License (GPL) Version 3
  *

flight/modules/GPS/UBX.c

@@ -7,7 +7,8 @@
  * @{
  *
  * @file       UBX.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
  * @brief      GPS module, handles GPS and NMEA stream
  * @see        The GNU Public License (GPL) Version 3
  *
@@ -33,22 +34,25 @@
 #include "pios_math.h"
 #include <pios_helpers.h>
 #include <pios_delay.h>
+
 #if defined(PIOS_INCLUDE_GPS_UBX_PARSER)
+
 #include "inc/UBX.h"
 #include "inc/GPS.h"
 #include <string.h>
 
-#ifndef PIOS_GPS_MINIMAL
+#if !defined(PIOS_GPS_MINIMAL)
 #include <auxmagsupport.h>
-
 static bool useMag = false;
-#endif
+#endif /* !defined(PIOS_GPS_MINIMAL) */
-GPSPositionSensorSensorTypeOptions sensorType = GPSPOSITIONSENSOR_SENSORTYPE_UNKNOWN;
+
+// this is set and used by this low level ubx code
+// it is also reset by the ubx configuration code (UBX6 vs. UBX7) in ubx_autoconfig.c
+GPSPositionSensorSensorTypeOptions ubxSensorType = GPSPOSITIONSENSOR_SENSORTYPE_UNKNOWN;
 
 static bool usePvt = false;
 static uint32_t lastPvtTime = 0;
 
-
 // parse table item
 typedef struct {
     uint8_t msgClass;
@@ -57,31 +61,27 @@ typedef struct {
 } ubx_message_handler;
 
 // parsing functions, roughly ordered by reception rate (higher rate messages on top)
-
 static void parse_ubx_nav_posllh(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
 static void parse_ubx_nav_velned(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
 static void parse_ubx_nav_sol(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
 static void parse_ubx_nav_dop(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
-#ifndef PIOS_GPS_MINIMAL
+#if !defined(PIOS_GPS_MINIMAL)
 static void parse_ubx_nav_pvt(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
 static void parse_ubx_nav_timeutc(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
 static void parse_ubx_nav_svinfo(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
-
 static void parse_ubx_op_sys(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
 static void parse_ubx_op_mag(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
-
 static void parse_ubx_ack_ack(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
 static void parse_ubx_ack_nak(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
-
 static void parse_ubx_mon_ver(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
-#endif
+#endif /* !defined(PIOS_GPS_MINIMAL) */
 
 const ubx_message_handler ubx_handler_table[] = {
     { .msgClass = UBX_CLASS_NAV,     .msgID = UBX_ID_NAV_POSLLH,  .handler = &parse_ubx_nav_posllh  },
     { .msgClass = UBX_CLASS_NAV,     .msgID = UBX_ID_NAV_VELNED,  .handler = &parse_ubx_nav_velned  },
     { .msgClass = UBX_CLASS_NAV,     .msgID = UBX_ID_NAV_SOL,     .handler = &parse_ubx_nav_sol     },
     { .msgClass = UBX_CLASS_NAV,     .msgID = UBX_ID_NAV_DOP,     .handler = &parse_ubx_nav_dop     },
-#ifndef PIOS_GPS_MINIMAL
+#if !defined(PIOS_GPS_MINIMAL)
     { .msgClass = UBX_CLASS_NAV,     .msgID = UBX_ID_NAV_PVT,     .handler = &parse_ubx_nav_pvt     },
     { .msgClass = UBX_CLASS_OP_CUST, .msgID = UBX_ID_OP_MAG,      .handler = &parse_ubx_op_mag      },
     { .msgClass = UBX_CLASS_NAV,     .msgID = UBX_ID_NAV_SVINFO,  .handler = &parse_ubx_nav_svinfo  },
@@ -92,7 +92,7 @@ const ubx_message_handler ubx_handler_table[] = {
     { .msgClass = UBX_CLASS_ACK,     .msgID = UBX_ID_ACK_NAK,     .handler = &parse_ubx_ack_nak     },
 
     { .msgClass = UBX_CLASS_MON,     .msgID = UBX_ID_MON_VER,     .handler = &parse_ubx_mon_ver     },
-#endif
+#endif /* !defined(PIOS_GPS_MINIMAL) */
 };
 #define UBX_HANDLER_TABLE_SIZE NELEMENTS(ubx_handler_table)
 
@@ -105,11 +105,10 @@ struct UBX_ACK_NAK ubxLastNak;
 
 // If a PVT sentence is received in the last UBX_PVT_TIMEOUT (ms) timeframe it disables VELNED/POSLLH/SOL/TIMEUTC
 #define UBX_PVT_TIMEOUT (1000)
-// parse incoming character stream for messages in UBX binary format
 
+// parse incoming character stream for messages in UBX binary format
 int parse_ubx_stream(uint8_t *rx, uint16_t len, char *gps_rx_buffer, GPSPositionSensorData *GpsData, struct GPS_RX_STATS *gpsRxStats)
 {
-    int ret = PARSER_INCOMPLETE; // message not (yet) complete
     enum proto_states {
         START,
         UBX_SY2,
@@ -126,13 +125,14 @@ int parse_ubx_stream(uint8_t *rx, uint16_t len, char *gps_rx_buffer, GPSPosition
         RESTART_WITH_ERROR,
         RESTART_NO_ERROR
     };
-    uint8_t c;
-    static enum proto_states proto_state = START;
     static uint16_t rx_count = 0;
+    static enum proto_states proto_state = START;
     struct UBXPacket *ubx    = (struct UBXPacket *)gps_rx_buffer;
+    int ret = PARSER_INCOMPLETE; // message not (yet) complete
     uint16_t i = 0;
     uint16_t restart_index   = 0;
     enum restart_states restart_state;
+    uint8_t c;
 
     // switch continue is the normal condition and comes back to here for another byte
     // switch break is the error state that branches to the end and restarts the scan at the byte after the first sync byte
@@ -172,11 +172,10 @@ int parse_ubx_stream(uint8_t *rx, uint16_t len, char *gps_rx_buffer, GPSPosition
                 gpsRxStats->gpsRxOverflow++;
 #if defined(PIOS_GPS_MINIMAL)
                 restart_state = RESTART_NO_ERROR;
-                break;
 #else
                 restart_state = RESTART_WITH_ERROR;
-                break;
 #endif
+                break;
             } else {
                 if (ubx->header.len == 0) {
                     proto_state = UBX_CHK1;
@@ -204,15 +203,20 @@ int parse_ubx_stream(uint8_t *rx, uint16_t len, char *gps_rx_buffer, GPSPosition
             // this has been proven by running it without autoconfig and testing:
             // data coming from OPV9 "GPS+MCU" port the checksum errors happen roughly every 5 to 30 seconds
             // same data coming from OPV9 "GPS Only" port the checksums are always good
-            // this also ocassionally causes parse_ubx_message() to issue alarms because not all the messages were received
+            // this also occasionally causes parse_ubx_message() to issue alarms because not all the messages were received
             // see OP GPSV9 comment in parse_ubx_message() for further information
-            if (checksum_ubx_message(ubx)) { // message complete and valid
+            if (checksum_ubx_message(ubx)) {
-                parse_ubx_message(ubx, GpsData);
                 gpsRxStats->gpsRxReceived++;
                 proto_state = START;
-                // pass PARSER_ERROR to be to caller if it happens even once
+                // overwrite PARSER_INCOMPLETE with PARSER_COMPLETE
-                if (ret == PARSER_INCOMPLETE) {
+                // but don't overwrite PARSER_ERROR with PARSER_COMPLETE
-                    ret = PARSER_COMPLETE; // message complete & processed
+                // pass PARSER_ERROR to caller if it happens even once
+                // only pass PARSER_COMPLETE back to caller if we parsed a full set of GPS data
+                // that allows the caller to know if we are parsing GPS data
+                // or just other packets for some reason (mis-configuration)
+                if (parse_ubx_message(ubx, GpsData) == GPSPOSITIONSENSOR_OBJID
+                    && ret == PARSER_INCOMPLETE) {
+                    ret = PARSER_COMPLETE;
                 }
             } else {
                 gpsRxStats->gpsRxChkSumError++;
@@ -232,7 +236,6 @@ int parse_ubx_stream(uint8_t *rx, uint16_t len, char *gps_rx_buffer, GPSPosition
         if (restart_state == RESTART_WITH_ERROR) {
             ret = PARSER_ERROR; // inform caller that we found at least one error (along with 0 or more good packets)
         }
-        // else restart with no error
         rx  += restart_index; // restart parsing just past the most recent SYNC1
         len -= restart_index;
         i    = 0;
@@ -242,10 +245,8 @@ int parse_ubx_stream(uint8_t *rx, uint16_t len, char *gps_rx_buffer, GPSPosition
     return ret;
 }
 
-
 // Keep track of various GPS messages needed to make up a single UAVO update
 // time-of-week timestamp is used to correlate matching messages
-
 #define POSLLH_RECEIVED (1 << 0)
 #define STATUS_RECEIVED (1 << 1)
 #define DOP_RECEIVED    (1 << 2)
@@ -375,6 +376,7 @@ static void parse_ubx_nav_velned(struct UBXPacket *ubx, GPSPositionSensorData *G
         }
     }
 }
+
 #if !defined(PIOS_GPS_MINIMAL)
 static void parse_ubx_nav_pvt(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition)
 {
@@ -504,12 +506,12 @@ static void parse_ubx_mon_ver(struct UBXPacket *ubx, __attribute__((unused)) GPS
 {
     struct UBX_MON_VER *mon_ver = &ubx->payload.mon_ver;
 
-    ubxHwVersion = atoi(mon_ver->hwVersion);
+    ubxHwVersion  = atoi(mon_ver->hwVersion);
-    sensorType   = (ubxHwVersion >= 80000) ? GPSPOSITIONSENSOR_SENSORTYPE_UBX8 :
+    ubxSensorType = (ubxHwVersion >= UBX_HW_VERSION_8) ? GPSPOSITIONSENSOR_SENSORTYPE_UBX8 :
-                   ((ubxHwVersion >= 70000) ? GPSPOSITIONSENSOR_SENSORTYPE_UBX7 : GPSPOSITIONSENSOR_SENSORTYPE_UBX);
+                    ((ubxHwVersion >= UBX_HW_VERSION_7) ? GPSPOSITIONSENSOR_SENSORTYPE_UBX7 : GPSPOSITIONSENSOR_SENSORTYPE_UBX);
     // send sensor type right now because on UBX NEMA we don't get a full set of messages
     // and we want to be able to see sensor type even on UBX NEMA GPS's
-    GPSPositionSensorSensorTypeSet((uint8_t *)&sensorType);
+    GPSPositionSensorSensorTypeSet((uint8_t *)&ubxSensorType);
 }
 
 static void parse_ubx_op_sys(struct UBXPacket *ubx, __attribute__((unused)) GPSPositionSensorData *GpsPosition)
@@ -538,10 +540,8 @@ static void parse_ubx_op_mag(struct UBXPacket *ubx, __attribute__((unused)) GPSP
 }
 #endif /* if !defined(PIOS_GPS_MINIMAL) */
 
-
 // UBX message parser
 // returns UAVObjectID if a UAVObject structure is ready for further processing
-
 uint32_t parse_ubx_message(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition)
 {
     uint32_t id = 0;
@@ -564,7 +564,7 @@ uint32_t parse_ubx_message(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosi
         }
     }
 
-    GpsPosition->SensorType = sensorType;
+    GpsPosition->SensorType = ubxSensorType;
 
     if (msgtracker.msg_received == ALL_RECEIVED) {
         // leave BaudRate field alone!
@@ -597,5 +597,5 @@ void op_gpsv9_load_mag_settings()
         useMag = false;
     }
 }
-#endif
+#endif // !defined(PIOS_GPS_MINIMAL)
-#endif // PIOS_INCLUDE_GPS_UBX_PARSER
+#endif // defined(PIOS_INCLUDE_GPS_UBX_PARSER)

flight/modules/GPS/inc/DJI.h

@@ -0,0 +1,332 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{
+ * @addtogroup GSPModule GPS Module
+ * @brief Process GPS information
+ * @{
+ *
+ * @file       DJI.h
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
+ * @brief      GPS module, handles DJI stream
+ * @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
+ */
+
+#ifndef DJI_H
+#define DJI_H
+#include "openpilot.h"
+#include "gpspositionsensor.h"
+#include "gpsextendedstatus.h"
+#ifndef PIOS_GPS_MINIMAL
+#include "auxmagsensor.h"
+#endif
+
+#include "GPS.h"
+
+#define DJI_SYNC1 0x55 // DJI protocol synchronization characters
+#define DJI_SYNC2 0xaa
+
+// Message IDs
+typedef enum {
+    DJI_ID_GPS = 0x10,
+    DJI_ID_MAG = 0x20,
+    DJI_ID_VER = 0x30,
+} dji_msg_id;
+
+// private structures
+
+/*
+   GPS protocol info from
+   http://www.rcgroups.com/forums/showpost.php?p=26210591&postcount=15
+
+   The 0x10 message contains GPS data. Here is the structure of the message,
+   fields marked with XX I'm not sure about yet. The others will be described below.
+
+   55 AA 10 3A DT DT DT DT LO LO LO LO LA LA LA LA AL AL AL AL HA HA HA HA VA VA VA VA XX XX XX XX
+   NV NV NV NV EV EV EV EV DV DV DV DV PD PD VD VD ND ND ED ED NS XX FT XX SF XX XX XM SN SN CS CS
+
+   The payload is XORed with a mask that changes over time (see below for more details).
+
+   Values in the message are stored in little endian.
+
+   HEADER
+   -------------
+   BYTE 1-2: message header - always 55 AA
+   BYTE 3: message id (0x10 for GPS message)
+   BYTE 4: lenght of the payload (0x3A or 58 decimal for 0x10 message)
+
+   PAYLOAD
+   --------------
+   BYTE 5-8 (DT)  : date and time, see details below
+   BYTE 9-12 (LO) : longitude (x10^7, degree decimal)
+   BYTE 13-16 (LA): latitude (x10^7, degree decimal)
+   BYTE 17-20 (AL): altitude (in milimeters)
+   BYTE 21-24 (HA): horizontal accuracy estimate (see uBlox NAV-POSLLH message for details)
+   BYTE 25-28 (VA): vertical accuracy estimate (see uBlox NAV-POSLLH message for details)
+   BYTE 29-32     : ??? (seems to be always 0)
+   BYTE 33-36 (NV): NED north velocity (see uBlox NAV-VELNED message for details)
+   BYTE 37-40 (EV): NED east velocity (see uBlox NAV-VELNED message for details)
+   BYTE 41-44 (DV): NED down velocity (see uBlox NAV-VELNED message for details)
+   BYTE 45-46 (PD): position DOP (see uBlox NAV-DOP message for details)
+   BYTE 47-48 (VD): vertical DOP (see uBlox NAV-DOP message for details)
+   BYTE 49-50 (ND): northing DOP (see uBlox NAV-DOP message for details)
+   BYTE 51-52 (ED): easting DOP (see uBlox NAV-DOP message for details)
+   BYTE 53 (NS)   : number of satellites (not XORed)
+   BYTE 54        : ??? (not XORed, seems to be always 0)
+   BYTE 55 (FT)   : fix type (0 - no lock, 2 - 2D lock, 3 - 3D lock, not sure if other values can be expected
+               : see uBlox NAV-SOL message for details)
+   BYTE 56        : ??? (seems to be always 0)
+   BYTE 57 (SF)   : fix status flags (see uBlox NAV-SOL message for details)
+   BYTE 58-59     : ??? (seems to be always 0)
+   BYTE 60 (XM)   : not sure yet, but I use it as the XOR mask
+   BYTE 61-62 (SN): sequence number (not XORed), once there is a lock - increases with every message.
+                 When the lock is lost later LSB and MSB are swapped with every message.
+
+   CHECKSUM
+   -----------------
+   BYTE 63-64 (CS): checksum, calculated the same way as for uBlox binary messages
+
+
+   XOR mask
+   ---------------
+   All bytes of the payload except 53rd (NS), 54th, 61st (SN LSB) and 62nd (SN MSB) are XORed with a mask.
+   Mask is calculated based on the value of byte 53rd (NS) and 61st (SN LSB).
+
+   If we index bits from LSB to MSB as 0-7 we have:
+   mask[0] = 53rdByte[0] xor 61stByte[4]
+   mask[1] = 53rdByte[1] xor 61stByte[5]
+   mask[2] = 53rdByte[2] xor 61stByte[6]
+   mask[3] = 53rdByte[3] xor 61stByte[7] xor 53rdByte[0];
+   mask[4] = 53rdByte[1];
+   mask[5] = 53rdByte[2];
+   mask[6] = 53rdByte[3];
+   mask[7] = 53rdByte[0] xor 61stByte[4];
+
+   To simplify calculations any of the unknown bytes that when XORer seem to be always 0 (29-32, 56, 58-60)
+   can be used as XOR mask (based on the fact that 0 XOR mask == mask). In the library I use byte 60.
+
+   Date and time format
+   ----------------------------
+   Date (Year, Month, Day) and time (Hour, Minute, Second) are stored as little endian 32bit unsigned integer,
+   the meaning of particular bits is as follows:
+
+   YYYYYYYMMMMDDDDDHHHHMMMMMMSSSSSS
+
+   NOTE 1: to get the day value correct you must add 1 when hour is > 7
+   NOTE 2: for the time between 16:00 and 23:59 the hour will be returned as 0-7
+        and there seems to be no way to differentiate between 00:00 - 07:59 and 16:00 - 23:59.
+
+   From further discussion in the thread, it sounds like the day is written into the buffer
+   (buffer initially zero bits) and then the hour is xored into the buffer
+   with the bottom bit of day and top bit of hour mapped to the same buffer bit?
+   Is that even correct?  Or could we have a correct hour and the day is just wrong?
+
+   http://www.rcgroups.com/forums/showpost.php?p=28158918&postcount=180
+   Midnight between 13th and 14th of March
+   0001110 0011 01110 0000 000000 000000 -> 14.3.14 00:00:00 -> 0
+   identical with
+   4PM, 14th of March
+   0001110 0011 01110 0000 000000 000000 -> 14.3.14 00:00:00 -> 0
+
+   Midnight between 14th and 15th of March
+   0001110 0011 01111 0000 000000 000000 -> 14.3.15 00:00:00 -> 16
+   identical with
+   4PM, 15th of March
+   0001110 0011 01111 0000 000000 000000 -> 14.3.15 00:00:00 -> 16
+
+   So as you can see even if we take 5 bits the hour is not correct either
+   Are they are xored?  If we knew the date from a different source we would know the time.
+   Maybe the xor mask itself contains the bit.  Does the mask change?  and how?  across the transitions.
+
+   http://www.rcgroups.com/forums/showpost.php?p=28168741&postcount=182
+   Originally Posted by gwouite View Post
+   Question, are you sure that at 4PM, you're day value doesn't increase of 1 ?
+   It does, but it also does decrease by 1 at 8am so you have:
+   00:00 - 07:59 => day = X, hour = 0 - 7
+   08:00 - 15:59 => day = X - 1, hour = 8 - 15
+   16:00 - 23:59 => day = X, hour = 0 - 7
+
+   http://www.rcgroups.com/forums/showpost.php?p=28782603&postcount=218
+   Here is the SBAS config from the Naza GPS
+   CFG-SBAS - 06 16 08 00 01 03 03 00 51 62 06 00
+   If I read it correctly EGNOS (PRN 124/124/126), MSAS (PRN 129/137) and WAAS (PRN 133/134/135/138) are enabled.
+ */
+
+// DJI GPS packet
+struct DjiGps { // byte offset from beginning of packet, subtract 5 for struct offset
+    struct { // YYYYYYYMMMMDDDDDHHHHMMMMMMSSSSSS
+        uint32_t sec : 6;
+        uint32_t min : 6;
+        uint32_t hour : 4;
+        uint32_t day : 5;
+        uint32_t month : 4;
+        uint32_t year : 7;
+    }; // BYTE 5-8 (DT): date and time, see details above
+    int32_t  lon;     // BYTE 9-12 (LO): longitude (x10^7, degree decimal)
+    int32_t  lat;     // BYTE 13-16 (LA): latitude (x10^7, degree decimal)
+    int32_t  hMSL;    // BYTE 17-20 (AL): altitude (in millimeters) (is this MSL or geoid?)
+    uint32_t hAcc; // BYTE 21-24 (HA): horizontal accuracy estimate (see uBlox NAV-POSLLH message for details)
+    uint32_t vAcc; // BYTE 25-28 (VA): vertical accuracy estimate (see uBlox NAV-POSLLH message for details)
+    uint32_t unused1; // BYTE 29-32: ??? (seems to be always 0)
+    int32_t  velN;    // BYTE 33-36 (NV): NED north velocity (see uBlox NAV-VELNED message for details)
+    int32_t  velE;    // BYTE 37-40 (EV): NED east velocity (see uBlox NAV-VELNED message for details)
+    int32_t  velD;    // BYTE 41-44 (DV): NED down velocity (see uBlox NAV-VELNED message for details)
+    uint16_t pDOP; // BYTE 45-46 (PD): position DOP (see uBlox NAV-DOP message for details)
+    uint16_t vDOP; // BYTE 47-48 (VD): vertical DOP (see uBlox NAV-DOP message for details)
+    uint16_t nDOP; // BYTE 49-50 (ND): northing DOP (see uBlox NAV-DOP message for details)
+    uint16_t eDOP; // BYTE 51-52 (ED): easting DOP (see uBlox NAV-DOP message for details)
+    uint8_t  numSV;   // BYTE 53 (NS): number of satellites (not XORed)
+    uint8_t  unused2; // BYTE 54: ??? (not XORed, seems to be always 0)
+    uint8_t  fixType; // BYTE 55 (FT): fix type (0 - no lock, 2 - 2D lock, 3 - 3D lock, not sure if other values can be expected
+                      // see uBlox NAV-SOL message for details)
+    uint8_t  unused3; // BYTE 56: ??? (seems to be always 0)
+    uint8_t  flags;   // BYTE 57 (SF): fix status flags (see uBlox NAV-SOL message for details)
+    uint16_t unused4; // BYTE 58-59: ??? (seems to be always 0)
+    uint8_t  unused5; // BYTE 60 (XM): not sure yet, but I use it as the XOR mask
+    uint16_t seqNo; // BYTE 61-62 (SN): sequence number (not XORed), once there is a lock
+                    // increases with every message. When the lock is lost later LSB and MSB are swapped (in all messages where lock is lost).
+} __attribute__((packed));
+
+#define FLAGS_GPSFIX_OK          (1 << 0)
+#define FLAGS_DIFFSOLN           (1 << 1)
+#define FLAGS_WKNSET             (1 << 2)
+#define FLAGS_TOWSET             (1 << 3)
+
+#define FIXTYPE_NO_FIX           0x00 /* No Fix */
+#define FIXTYPE_DEAD_RECKON      0x01 /* Dead Reckoning only */
+#define FIXTYPE_2D               0x02 /* 2D-Fix */
+#define FIXTYPE_3D               0x03 /* 3D-Fix */
+#define FIXTYPE_GNSS_DEAD_RECKON 0x04 /* GNSS + dead reckoning combined */
+#define FIXTYPE_TIME_ONLY        0x05 /* Time only fix */
+
+#define GPS_DECODED_LENGTH       offsetof(struct DjiGps, seqNo)
+#define GPS_NOT_XORED_BYTE_1     offsetof(struct DjiGps, numSV)
+#define GPS_NOT_XORED_BYTE_2     offsetof(struct DjiGps, unused2)
+
+
+/*
+   mag protocol info from
+   http://www.rcgroups.com/forums/showpost.php?p=26248426&postcount=62
+
+   The 0x20 message contains compass data. Here is the structure of the message,
+   fields marked with XX I'm not sure about yet. The others will be described below.
+
+   55 AA 20 06 CX CX CY CY CZ CZ CS CS
+
+   Values in the message are stored in little endian.
+
+   HEADER
+   -------------
+   BYTE 1-2: message header - always 55 AA
+   BYTE 3: message id (0x20 for compass message)
+   BYTE 4: length of the payload (0x06 or 6 decimal for 0x20 message)
+
+   PAYLOAD
+   --------------
+   BYTE 5-6 (CX): compass X axis data (signed) - see comments below
+   BYTE 7-8 (CY): compass Y axis data (signed) - see comments below
+   BYTE 9-10 (CZ): compass Z axis data (signed) - see comments below
+
+   CHECKSUM
+   -----------------
+   BYTE 11-12 (CS): checksum, calculated the same way as for uBlox binary messages
+
+   All the bytes of the payload except 9th are XORed with a mask.
+   Mask is calculated based on the value of the 9th byte.
+
+   If we index bits from LSB to MSB as 0-7 we have:
+   mask[0] = 9thByte[0] xor 9thByte[4]
+   mask[1] = 9thByte[1] xor 9thByte[5]
+   mask[2] = 9thByte[2] xor 9thByte[6]
+   mask[3] = 9thByte[3] xor 9thByte[7] xor 9thByte[0];
+   mask[4] = 9thByte[1];
+   mask[5] = 9thByte[2];
+   mask[6] = 9thByte[3];
+   mask[7] = 9thByte[4] xor 9thByte[0];
+
+   To calculate the heading (not tilt compensated) you need to do atan2 on the resulting
+   y any a (y and x?) values, convert radians to degrees and add 360 if the result is negative.
+ */
+
+struct DjiMag { // byte offset from beginning of packet, subtract 5 for struct offset
+    int16_t x; // BYTE 5-6 (CX): compass X axis data (signed) - see comments below
+    int16_t y; // BYTE 7-8 (CY): compass Y axis data (signed) - see comments below
+    int16_t z; // BYTE 9-10 (CZ): compass Z axis data (signed) - see comments below
+} __attribute__((packed));
+
+
+/*
+   version info from
+   http://www.rcgroups.com/forums/showpost.php?p=27058649&postcount=120
+
+   This is still to be confirmed but I believe the 0x30 message carries the GPS module hardware id and firmware version.
+
+   55 AA 30 0C XX XX XX XX FW FW FW FW HW HW HW HW CS CS
+
+   Note that you need to read version numbers backwards (02 01 00 06 means v6.0.1.2)
+
+   HEADER
+   -------------
+   BYTE 1-2: message header - always 55 AA
+   BYTE 3: message id (0x30 for GPS module versions message)
+   BYTE 4: length of the payload (0x0C or 12 decimal for 0x30 message)
+
+   PAYLOAD
+   --------------
+   BYTE 5-8" ??? (seems to be always 0)
+   BYTE 9-12 (FW): firmware version
+   BYTE 13-16 (HW): hardware id
+
+   CHECKSUM
+   -----------------
+   BYTE 17-18 (CS): checksum, calculated the same way as for uBlox binary messages
+ */
+
+struct DjiVer { // byte offset from beginning of packet, subtract 5 for struct offset
+    uint32_t unused1; // BYTE 5-8" ??? (seems to be always 0)
+    uint32_t swVersion; // BYTE 9-12 (FW): firmware version
+    uint32_t hwVersion; // BYTE 13-16 (HW): hardware id
+} __attribute__((packed));
+#define VER_FIRST_DECODED_BYTE offsetof(struct DjiVer, swVersion)
+
+
+typedef union {
+    uint8_t payload[0];
+    // Nav Class
+    struct DjiGps gps;
+    struct DjiMag mag;
+    struct DjiVer ver;
+} DJIPayload;
+
+struct DJIHeader {
+    uint8_t id;
+    uint8_t len;
+    uint8_t checksumA; // these are not part of the dji header, they are actually in the trailer
+    uint8_t checksumB; // but they are kept here for parsing ease
+} __attribute__((packed));
+
+struct DJIPacket {
+    struct DJIHeader header;
+    DJIPayload payload;
+} __attribute__((packed));
+
+int parse_dji_stream(uint8_t *inputBuffer, uint16_t inputBufferLength, char *parsedDjiStruct, GPSPositionSensorData *GpsData, struct GPS_RX_STATS *GpsRxStats);
+void dji_load_mag_settings();
+
+#endif /* DJI_H */

flight/modules/GPS/inc/UBX.h

@@ -7,7 +7,8 @@
  * @{
  *
  * @file       UBX.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @brief      GPS module, handles GPS and NMEA stream
  * @see        The GNU Public License (GPL) Version 3
  *
@@ -612,7 +613,7 @@ union UBXSENTPACKET {
 
 // Used by AutoConfig code
 extern int32_t ubxHwVersion;
-extern GPSPositionSensorSensorTypeOptions sensorType;
+extern GPSPositionSensorSensorTypeOptions ubxSensorType;
 extern struct UBX_ACK_ACK ubxLastAck;
 extern struct UBX_ACK_NAK ubxLastNak;
 
@@ -621,5 +622,6 @@ uint32_t parse_ubx_message(struct UBXPacket *, GPSPositionSensorData *);
 
 int parse_ubx_stream(uint8_t *rx, uint16_t len, char *, GPSPositionSensorData *, struct GPS_RX_STATS *);
 void op_gpsv9_load_mag_settings();
+void aux_hmc5x83_load_mag_settings();
 
 #endif /* UBX_H */

flight/modules/GPS/ubx_autoconfig.c

@@ -7,7 +7,8 @@
  * @{
  *
  * @file       ubx_autoconfig.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
  * @brief      Support code for UBX AutoConfig
  * @see        The GNU Public License (GPL) Version 3
  *
@@ -238,10 +239,10 @@ void gps_ubx_reset_sensor_type()
     // is this needed?
     // what happens if two tasks / threads try to do an XyzSet() at the same time?
     if (__sync_fetch_and_add(&mutex, 1) == 0) {
-        ubxHwVersion = -1;
+        ubxHwVersion       = -1;
         baud_to_try_index -= 1; // undo postincrement and start with the one that was most recently successful
-        sensorType   = GPSPOSITIONSENSOR_SENSORTYPE_UNKNOWN;
+        ubxSensorType      = GPSPOSITIONSENSOR_SENSORTYPE_UNKNOWN;
-        GPSPositionSensorSensorTypeSet(&sensorType);
+        GPSPositionSensorSensorTypeSet(&ubxSensorType);
         // make the sensor type / autobaud code time out immediately to send the request immediately
         status->lastStepTimestampRaw += 0x8000000UL;
     }
@@ -849,6 +850,8 @@ void gps_ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
 }
 
 
+// (re)init the autoconfig stuff so that it will run if called
+//
 // this can be called from a different thread
 // so everything it touches must be declared volatile
 void gps_ubx_autoconfig_set(ubx_autoconfig_settings_t *config)
@@ -883,17 +886,17 @@ void gps_ubx_autoconfig_set(ubx_autoconfig_settings_t *config)
     status->currentStep     = new_step;
     status->currentStepSave = new_step;
 
+    // this forces the sensor type detection to occur outside the FSM
+    // and _can_ also engage the autobaud detection that is outside the FSM
+    // don't do it if FSM is enabled as FSM can change the baud itself
+    // (don't do it because the baud rates are already in sync)
+    gps_ubx_reset_sensor_type();
+
     if (status->currentSettings.UbxAutoConfig >= GPSSETTINGS_UBXAUTOCONFIG_AUTOBAUDANDCONFIGURE) {
         // enabled refers to autoconfigure
         // note that sensor type (gps type) detection happens even if completely disabled
-        // also note that AutoBaud is less than Configure
+        // also note that AutoBaud is less than AutoBaudAndConfigure
         enabled = true;
-    } else {
-        // this forces the sensor type detection to occur outside the FSM
-        // and _can_ also engage the autobaud detection that is outside the FSM
-        // don't do it if FSM is enabled as FSM can change the baud itself
-        // (don't do it because the baud rates are already in sync)
-        gps_ubx_reset_sensor_type();
     }
 }
 

flight/modules/Sensors/sensors.c

@@ -7,7 +7,8 @@
  * @{
  *
  * @file       sensors.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
  * @brief      Module to handle fetch and preprocessing of sensor data
  *
  * @see        The GNU Public License (GPL) Version 3
@@ -62,6 +63,7 @@
 #include <auxmagsupport.h>
 #include <accelgyrosettings.h>
 #include <revosettings.h>
+#include <UBX.h>
 
 #include <mathmisc.h>
 #include <taskinfo.h>
@@ -128,6 +130,10 @@ PERF_DEFINE_COUNTER(counterBaroPeriod);
 PERF_DEFINE_COUNTER(counterSensorPeriod);
 PERF_DEFINE_COUNTER(counterSensorResets);
 
+#if defined(PIOS_INCLUDE_HMC5X83)
+void aux_hmc5x83_load_settings();
+#endif
+
 // Private functions
 static void SensorsTask(void *parameters);
 static void settingsUpdatedCb(UAVObjEvent *objEv);
@@ -141,7 +147,9 @@ static void clearContext(sensor_fetch_context *sensor_context);
 static void handleAccel(float *samples, float temperature);
 static void handleGyro(float *samples, float temperature);
 static void handleMag(float *samples, float temperature);
+#if defined(PIOS_INCLUDE_HMC5X83)
 static void handleAuxMag(float *samples);
+#endif
 static void handleBaro(float sample, float temperature);
 
 static void updateAccelTempBias(float temperature);
@@ -184,6 +192,12 @@ static float baro_temp_bias   = 0;
 static float baro_temperature = NAN;
 static uint8_t baro_temp_calibration_count = 0;
 
+#if defined(PIOS_INCLUDE_HMC5X83)
+// Allow AuxMag to be disabled without reboot
+// because the other mags are that way
+static bool useAuxMag = false;
+#endif
+
 /**
  * Initialise the module.  Called before the start function
  * \returns 0 on success or -1 if initialisation failed
@@ -200,9 +214,11 @@ int32_t SensorsInitialize(void)
     AttitudeSettingsInitialize();
     AccelGyroSettingsInitialize();
 
+#if defined(PIOS_INCLUDE_HMC5X83)
     // for auxmagsupport.c helpers
     AuxMagSettingsInitialize();
     AuxMagSensorInitialize();
+#endif
 
     RevoSettingsConnectCallback(&settingsUpdatedCb);
     RevoCalibrationConnectCallback(&settingsUpdatedCb);
@@ -366,9 +382,12 @@ static void processSamples3d(sensor_fetch_context *sensor_context, const PIOS_SE
 
     PIOS_SENSORS_GetScales(sensor, scales, MAX_SENSORS_PER_INSTANCE);
     float inv_count = 1.0f / (float)sensor_context->count;
-    if ((sensor->type & PIOS_SENSORS_TYPE_3AXIS_ACCEL) ||
+    if ((sensor->type & PIOS_SENSORS_TYPE_3AXIS_ACCEL)
-        (sensor->type == PIOS_SENSORS_TYPE_3AXIS_MAG) ||
+        || (sensor->type == PIOS_SENSORS_TYPE_3AXIS_MAG)
-        (sensor->type == PIOS_SENSORS_TYPE_3AXIS_AUXMAG)) {
+#if defined(PIOS_INCLUDE_HMC5X83)
+        || (sensor->type == PIOS_SENSORS_TYPE_3AXIS_AUXMAG)
+#endif
+        ) {
         float t = inv_count * scales[0];
         samples[0]  = ((float)sensor_context->accum[0].x * t);
         samples[1]  = ((float)sensor_context->accum[0].y * t);
@@ -380,11 +399,13 @@ static void processSamples3d(sensor_fetch_context *sensor_context, const PIOS_SE
             PERF_MEASURE_PERIOD(counterMagPeriod);
             return;
 
+#if defined(PIOS_INCLUDE_HMC5X83)
         case PIOS_SENSORS_TYPE_3AXIS_AUXMAG:
             handleAuxMag(samples);
             PERF_MEASURE_PERIOD(counterMagPeriod);
             return;
 
+#endif
         default:
             PERF_TRACK_VALUE(counterAccelSamples, sensor_context->count);
             PERF_MEASURE_PERIOD(counterAccelPeriod);
@@ -473,10 +494,14 @@ static void handleMag(float *samples, float temperature)
     MagSensorSet(&mag);
 }
 
+#if defined(PIOS_INCLUDE_HMC5X83)
 static void handleAuxMag(float *samples)
 {
-    auxmagsupport_publish_samples(samples, AUXMAGSENSOR_STATUS_OK);
+    if (useAuxMag) {
+        auxmagsupport_publish_samples(samples, AUXMAGSENSOR_STATUS_OK);
+    }
 }
+#endif
 
 static void handleBaro(float sample, float temperature)
 {
@@ -607,6 +632,19 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv)
           fabsf(baroCorrection.c) > 1e-9f ||
           fabsf(baroCorrection.d) > 1e-9f));
 }
+
+#if defined(PIOS_INCLUDE_HMC5X83)
+void aux_hmc5x83_load_mag_settings()
+{
+    uint8_t magType = auxmagsupport_get_type();
+
+    if (magType == AUXMAGSETTINGS_TYPE_I2C || magType == AUXMAGSETTINGS_TYPE_FLEXI) {
+        useAuxMag = true;
+    } else {
+        useAuxMag = false;
+    }
+}
+#endif
 /**
  * @}
  * @}

flight/targets/boards/coptercontrol/firmware/inc/pios_config.h

@@ -148,6 +148,7 @@
 #define PIOS_GPS_MINIMAL
 /* #define PIOS_INCLUDE_GPS_NMEA_PARSER */
 #define PIOS_INCLUDE_GPS_UBX_PARSER
+/* #define PIOS_INCLUDE_GPS_DJI_PARSER */
 /* #define PIOS_GPS_SETS_HOMELOCATION */
 
 /* Stabilization options */

flight/targets/boards/discoveryf4bare/firmware/Makefile

@@ -1,5 +1,5 @@
 #
-# Copyright (c) 2015, The LibrePilot Project, http://www.librepilot.org
+# Copyright (c) 2015-2016, The LibrePilot Project, http://www.librepilot.org
 # Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
 # Copyright (c) 2012, PhoenixPilot, http://github.com/PhoenixPilot
 #
@@ -32,7 +32,7 @@ USE_CXX = YES
 USE_DSP_LIB ?= NO
 
 # List of mandatory modules to include
-#MODULES += Sensors
+MODULES += Sensors
 #MODULES += Attitude/revolution
 #MODULES += StateEstimation # use instead of Attitude
 #MODULES += Altitude/revolution

flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h

@@ -5,7 +5,8 @@
  * @addtogroup OpenPilotCore OpenPilot Core
  * @{
  * @file       pios_config.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2013.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2013.
  * @brief      PiOS configuration header, the compile time config file for the PIOS.
  *             Defines which PiOS libraries and features are included in the firmware.
  * @see        The GNU Public License (GPL) Version 3
@@ -149,6 +150,7 @@
 /* #define PIOS_GPS_MINIMAL */
 #define PIOS_INCLUDE_GPS_NMEA_PARSER
 #define PIOS_INCLUDE_GPS_UBX_PARSER
+#define PIOS_INCLUDE_GPS_DJI_PARSER
 #define PIOS_GPS_SETS_HOMELOCATION
 
 /* Stabilization options */

flight/targets/boards/osd/firmware/inc/pios_config.h

@@ -141,6 +141,7 @@
 /* #define PIOS_GPS_MINIMAL */
 #define PIOS_INCLUDE_GPS_NMEA_PARSER
 #define PIOS_INCLUDE_GPS_UBX_PARSER
+#define PIOS_INCLUDE_GPS_DJI_PARSER
 #define PIOS_GPS_SETS_HOMELOCATION
 
 /* Stabilization options */

flight/targets/boards/revolution/firmware/inc/pios_config.h

@@ -5,7 +5,7 @@
  * @addtogroup OpenPilotCore OpenPilot Core
  * @{
  * @file       pios_config.h
- * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
  *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2013.
  * @brief      PiOS configuration header, the compile time config file for the PIOS.
  *             Defines which PiOS libraries and features are included in the firmware.
@@ -153,6 +153,7 @@
 /* #define PIOS_GPS_MINIMAL */
 #define PIOS_INCLUDE_GPS_NMEA_PARSER
 #define PIOS_INCLUDE_GPS_UBX_PARSER
+#define PIOS_INCLUDE_GPS_DJI_PARSER
 #define PIOS_GPS_SETS_HOMELOCATION
 
 /* Stabilization options */

flight/targets/boards/revonano/firmware/inc/pios_config.h

@@ -5,7 +5,7 @@
  * @addtogroup OpenPilotCore OpenPilot Core
  * @{
  * @file       pios_config.h
- * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
  *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2013.
  * @brief      PiOS configuration header, the compile time config file for the PIOS.
  *             Defines which PiOS libraries and features are included in the firmware.
@@ -157,6 +157,7 @@
 /* #define PIOS_GPS_MINIMAL */
 #define PIOS_INCLUDE_GPS_NMEA_PARSER
 #define PIOS_INCLUDE_GPS_UBX_PARSER
+#define PIOS_INCLUDE_GPS_DJI_PARSER
 #define PIOS_GPS_SETS_HOMELOCATION
 
 /* Stabilization options */

flight/targets/boards/revoproto/firmware/inc/pios_config.h

@@ -5,7 +5,8 @@
  * @addtogroup OpenPilotCore OpenPilot Core
  * @{
  * @file       pios_config.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2013.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2013.
  * @brief      PiOS configuration header, the compile time config file for the PIOS.
  *             Defines which PiOS libraries and features are included in the firmware.
  * @see        The GNU Public License (GPL) Version 3
@@ -141,6 +142,7 @@
 /* #define PIOS_GPS_MINIMAL */
 #define PIOS_INCLUDE_GPS_NMEA_PARSER
 #define PIOS_INCLUDE_GPS_UBX_PARSER
+#define PIOS_INCLUDE_GPS_DJI_PARSER
 #define PIOS_GPS_SETS_HOMELOCATION
 
 /* Stabilization options */

shared/uavobjectdefinition/auxmagsettings.xml

@@ -6,7 +6,7 @@
          defaultvalue="1,0,0,0,1,0,0,0,1"/>
         <field name="MagBiasNullingRate" units="" type="float" elements="1" defaultvalue="0"/>
         <field name="BoardRotation" units="deg" type="int16" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0"/>
-        <field name="Type" units="" type="enum" elements="1" options="GPSV9,Ext,Flexi" defaultvalue="GPSV9"/>
+        <field name="Type" units="" type="enum" elements="1" options="GPSV9,Flexi,I2C,DJI" defaultvalue="GPSV9"/>
         <field name="Usage" units="" type="enum" elements="1" options="Both,OnboardOnly,AuxOnly" defaultvalue="Both"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>

shared/uavobjectdefinition/gpspositionsensor.xml

@@ -12,7 +12,7 @@
         <field name="PDOP" units="" type="float" elements="1"/>
         <field name="HDOP" units="" type="float" elements="1"/>
         <field name="VDOP" units="" type="float" elements="1"/>
-        <field name="SensorType" units="" type="enum" elements="1" options="Unknown,NMEA,UBX,UBX7,UBX8" defaultvalue="Unknown" />
+        <field name="SensorType" units="" type="enum" elements="1" options="Unknown,NMEA,UBX,UBX7,UBX8,DJI" defaultvalue="Unknown" />
         <field name="AutoConfigStatus" units="" type="enum" elements="1" options="Disabled,Running,Done,Error" defaultvalue="Disabled" />
         <field name="BaudRate" units="" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200,230400,Unknown" defaultvalue="Unknown" />
         <access gcs="readwrite" flight="readwrite"/>

shared/uavobjectdefinition/gpssettings.xml

@@ -1,7 +1,7 @@
 <xml>
     <object name="GPSSettings" singleinstance="true" settings="true" category="Sensors">
         <description>GPS Module specific settings</description>
-        <field name="DataProtocol" units="" type="enum" elements="1" options="NMEA,UBX" defaultvalue="UBX"/>
+        <field name="DataProtocol" units="" type="enum" elements="1" options="NMEA,UBX,DJI" defaultvalue="UBX"/>
         <field name="MinSatellites" units="" type="uint8" elements="1" defaultvalue="7"/>
         <field name="MaxPDOP" units="" type="float" elements="1" defaultvalue="3.5"/>
         <!-- Ubx self configuration. Enable to allow the flight board to auto configure ubx GPS options,