rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-02-20 10:54:14 +01:00
Code Issues Releases Activity

Merge remote-tracking branch 'origin/cyr/OP-1739_GNSS' into next

Browse Source
This commit is contained in:
Alessio Morale 2015-03-22 20:25:51 +01:00
commit fbaf39229b
11 changed files with 380 additions and 59 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

42
flight/modules/GPS/GPS.c
View File

@ -275,6 +275,12 @@ static void gpsTask(__attribute__((unused)) void *parameters)
ubx_autoconfig_run(&buffer, &count, status != GPSPOSITIONSENSOR_STATUS_NOGPS);
// Something to send?
if (count) {
// clear ack/nak
ubxLastAck.clsID = 0x00;
ubxLastAck.msgID = 0x00;
ubxLastNak.clsID = 0x00;
ubxLastNak.msgID = 0x00;
PIOS_COM_SendBuffer(gpsPort, (uint8_t *)buffer, count);
}
}
@ -479,6 +485,7 @@ void updateGpsSettings(__attribute__((unused)) UAVObjEvent *ev)
uint8_t ubxSbasMode;
ubx_autoconfig_settings_t newconfig;
uint8_t ubxSbasSats;
uint8_t ubxGnssMode;
GPSSettingsUbxRateGet(&newconfig.navRate);
@ -541,6 +548,41 @@ void updateGpsSettings(__attribute__((unused)) UAVObjEvent *ev)
ubxSbasSats == GPSSETTINGS_UBXSBASSATS_GAGAN ? UBX_SBAS_SATS_GAGAN :
ubxSbasSats == GPSSETTINGS_UBXSBASSATS_SDCM ? UBX_SBAS_SATS_SDCM : UBX_SBAS_SATS_AUTOSCAN;
GPSSettingsUbxGNSSModeGet(&ubxGnssMode);
switch (ubxGnssMode) {
case GPSSETTINGS_UBXGNSSMODE_GPSGLONASS:
newconfig.enableGPS = true;
newconfig.enableGLONASS = true;
newconfig.enableBeiDou = false;
break;
case GPSSETTINGS_UBXGNSSMODE_GLONASS:
newconfig.enableGPS = false;
newconfig.enableGLONASS = true;
newconfig.enableBeiDou = false;
break;
case GPSSETTINGS_UBXGNSSMODE_GPS:
newconfig.enableGPS = true;
newconfig.enableGLONASS = false;
newconfig.enableBeiDou = false;
break;
case GPSSETTINGS_UBXGNSSMODE_GPSBEIDOU:
newconfig.enableGPS = true;
newconfig.enableGLONASS = false;
newconfig.enableBeiDou = true;
break;
case GPSSETTINGS_UBXGNSSMODE_GLONASSBEIDOU:
newconfig.enableGPS = false;
newconfig.enableGLONASS = true;
newconfig.enableBeiDou = true;
break;
default:
newconfig.enableGPS = false;
newconfig.enableGLONASS = false;
newconfig.enableBeiDou = false;
break;
}
ubx_autoconfig_set(newconfig);
}
#endif /* if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL) */

22
flight/modules/GPS/UBX.c
View File

@ -107,7 +107,7 @@ struct UBX_ACK_NAK ubxLastNak;
#define UBX_PVT_TIMEOUT (1000)
// parse incoming character stream for messages in UBX binary format
int parse_ubx_stream(uint8_t *rx, uint8_t len, char *gps_rx_buffer, GPSPositionSensorData *GpsData, struct GPS_RX_STATS *gpsRxStats)
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 {
@ -124,8 +124,8 @@ int parse_ubx_stream(uint8_t *rx, uint8_t len, char *gps_rx_buffer, GPSPositionS
};
uint8_t c;
static enum proto_states proto_state = START;
static uint8_t rx_count = 0;
struct UBXPacket *ubx = (struct UBXPacket *)gps_rx_buffer;
static uint16_t rx_count = 0;
struct UBXPacket *ubx = (struct UBXPacket *)gps_rx_buffer;
for (int i = 0; i < len; i++) {
c = rx[i];
@ -413,8 +413,10 @@ static void parse_ubx_nav_svinfo(struct UBXPacket *ubx, __attribute__((unused))
struct UBX_NAV_SVINFO *svinfo = &ubx->payload.nav_svinfo;
svdata.SatsInView = 0;
// First, use slots for SVs actually being received
for (chan = 0; chan < svinfo->numCh; chan++) {
if (svdata.SatsInView < GPSSATELLITES_PRN_NUMELEM) {
if (svdata.SatsInView < GPSSATELLITES_PRN_NUMELEM && svinfo->sv[chan].cno > 0) {
svdata.Azimuth[svdata.SatsInView] = svinfo->sv[chan].azim;
svdata.Elevation[svdata.SatsInView] = svinfo->sv[chan].elev;
svdata.PRN[svdata.SatsInView] = svinfo->sv[chan].svid;
@ -422,6 +424,18 @@ static void parse_ubx_nav_svinfo(struct UBXPacket *ubx, __attribute__((unused))
svdata.SatsInView++;
}
}
// Now try to add the rest
for (chan = 0; chan < svinfo->numCh; chan++) {
if (svdata.SatsInView < GPSSATELLITES_PRN_NUMELEM && 0 == svinfo->sv[chan].cno) {
svdata.Azimuth[svdata.SatsInView] = svinfo->sv[chan].azim;
svdata.Elevation[svdata.SatsInView] = svinfo->sv[chan].elev;
svdata.PRN[svdata.SatsInView] = svinfo->sv[chan].svid;
svdata.SNR[svdata.SatsInView] = svinfo->sv[chan].cno;
svdata.SatsInView++;
}
}
// fill remaining slots (if any)
for (chan = svdata.SatsInView; chan < GPSSATELLITES_PRN_NUMELEM; chan++) {
svdata.Azimuth[chan] = 0;

5
flight/modules/GPS/inc/UBX.h
View File

@ -102,6 +102,7 @@ typedef enum {
UBX_ID_CFG_MSG = 0x01,
UBX_ID_CFG_CFG = 0x09,
UBX_ID_CFG_SBAS = 0x16,
UBX_ID_CFG_GNSS = 0x3E
} ubx_class_cfg_id;
typedef enum {
@ -310,7 +311,7 @@ struct UBX_NAV_SVINFO_SV {
};
// SV information message
#define MAX_SVS 16
#define MAX_SVS 32
struct UBX_NAV_SVINFO {
uint32_t iTOW; // GPS Millisecond Time of Week (ms)
@ -404,7 +405,7 @@ extern struct UBX_ACK_NAK ubxLastNak;
bool checksum_ubx_message(struct UBXPacket *);
uint32_t parse_ubx_message(struct UBXPacket *, GPSPositionSensorData *);
int parse_ubx_stream(uint8_t *rx, uint8_t len, char *, GPSPositionSensorData *, struct GPS_RX_STATS *);
int parse_ubx_stream(uint8_t *rx, uint16_t len, char *, GPSPositionSensorData *, struct GPS_RX_STATS *);
void load_mag_settings();
#endif /* UBX_H */

43
flight/modules/GPS/inc/ubx_autoconfig.h
View File

@ -88,6 +88,10 @@ typedef struct {
int8_t navRate;
ubx_config_dynamicmodel_t dynamicModel;
bool enableGPS;
bool enableGLONASS;
bool enableBeiDou;
} ubx_autoconfig_settings_t;
// Mask for "all supported devices": battery backed RAM, Flash, EEPROM, SPI Flash
@ -164,6 +168,44 @@ typedef struct {
uint32_t scanmode1;
} __attribute__((packed)) ubx_cfg_sbas_t;
typedef enum {
UBX_GNSS_ID_GPS = 0,
UBX_GNSS_ID_SBAS = 1,
UBX_GNSS_ID_GALILEO = 2,
UBX_GNSS_ID_BEIDOU = 3,
UBX_GNSS_ID_IMES = 4,
UBX_GNSS_ID_QZSS = 5,
UBX_GNSS_ID_GLONASS = 6,
UBX_GNSS_ID_MAX
} ubx_config_gnss_id_t;
#define UBX_CFG_GNSS_FLAGS_ENABLED 0x01
#define UBX_CFG_GNSS_FLAGS_GPS_L1CA 0x010000
#define UBX_CFG_GNSS_FLAGS_SBAS_L1CA 0x010000
#define UBX_CFG_GNSS_FLAGS_BEIDOU_B1I 0x010000
#define UBX_CFG_GNSS_FLAGS_QZSS_L1CA 0x010000
#define UBX_CFG_GNSS_FLAGS_QZSS_L1SAIF 0x040000
#define UBX_CFG_GNSS_FLAGS_GLONASS_L1OF 0x010000
#define UBX_CFG_GNSS_NUMCH_VER7 22
#define UBX_CFG_GNSS_NUMCH_VER8 32
typedef struct {
uint8_t gnssId;
uint8_t resTrkCh;
uint8_t maxTrkCh;
uint8_t resvd;
uint32_t flags;
} __attribute__((packed)) ubx_cfg_gnss_cfgblock_t;
typedef struct {
uint8_t msgVer;
uint8_t numTrkChHw;
uint8_t numTrkChUse;
uint8_t numConfigBlocks;
ubx_cfg_gnss_cfgblock_t cfgBlocks[UBX_GNSS_ID_MAX];
} __attribute__((packed)) ubx_cfg_gnss_t;
typedef struct {
uint8_t prolog[2];
uint8_t class;
@ -181,6 +223,7 @@ typedef union {
ubx_cfg_nav5_t cfg_nav5;
ubx_cfg_rate_t cfg_rate;
ubx_cfg_sbas_t cfg_sbas;
ubx_cfg_gnss_t cfg_gnss;
} payload;
uint8_t resvd[2]; // added space for checksum bytes
} message;

88
flight/modules/GPS/ubx_autoconfig.c
View File

@ -224,6 +224,65 @@ void config_sbas(uint16_t *bytes_to_send)
status->requiredAck.msgID = UBX_ID_CFG_SBAS;
}
void config_gnss(uint16_t *bytes_to_send)
{
int32_t i;
memset(status->working_packet.buffer, 0, sizeof(UBXSentHeader_t) + sizeof(ubx_cfg_gnss_t));
status->working_packet.message.payload.cfg_gnss.numConfigBlocks = UBX_GNSS_ID_MAX;
status->working_packet.message.payload.cfg_gnss.numTrkChHw = (ubxHwVersion > UBX_HW_VERSION_7) ? UBX_CFG_GNSS_NUMCH_VER8 : UBX_CFG_GNSS_NUMCH_VER7;
status->working_packet.message.payload.cfg_gnss.numTrkChUse = status->working_packet.message.payload.cfg_gnss.numTrkChHw;
for (i = 0; i < UBX_GNSS_ID_MAX; i++) {
status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].gnssId = i;
switch (i) {
case UBX_GNSS_ID_GPS:
if (status->currentSettings.enableGPS) {
status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].flags = UBX_CFG_GNSS_FLAGS_ENABLED | UBX_CFG_GNSS_FLAGS_GPS_L1CA;
status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].maxTrkCh = 16;
status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].resTrkCh = 8;
}
break;
case UBX_GNSS_ID_QZSS:
if (status->currentSettings.enableGPS) {
status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].flags = UBX_CFG_GNSS_FLAGS_ENABLED | UBX_CFG_GNSS_FLAGS_QZSS_L1CA;
status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].maxTrkCh = 3;
status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].resTrkCh = 0;
}
break;
case UBX_GNSS_ID_SBAS:
if (status->currentSettings.SBASCorrection || status->currentSettings.SBASIntegrity || status->currentSettings.SBASRanging) {
status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].flags = UBX_CFG_GNSS_FLAGS_ENABLED | UBX_CFG_GNSS_FLAGS_SBAS_L1CA;
status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].maxTrkCh = status->currentSettings.SBASChannelsUsed < 4 ? status->currentSettings.SBASChannelsUsed : 3;
status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].resTrkCh = 1;
}
break;
case UBX_GNSS_ID_GLONASS:
if (status->currentSettings.enableGLONASS) {
status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].flags = UBX_CFG_GNSS_FLAGS_ENABLED | UBX_CFG_GNSS_FLAGS_GLONASS_L1OF;
status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].maxTrkCh = 14;
status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].resTrkCh = 8;
}
break;
case UBX_GNSS_ID_BEIDOU:
if (status->currentSettings.enableBeiDou) {
status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].flags = UBX_CFG_GNSS_FLAGS_ENABLED | UBX_CFG_GNSS_FLAGS_BEIDOU_B1I;
status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].maxTrkCh = 14;
status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].resTrkCh = 8;
}
break;
default:
break;
}
}
*bytes_to_send = prepare_packet(&status->working_packet, UBX_CLASS_CFG, UBX_ID_CFG_GNSS, sizeof(ubx_cfg_gnss_t));
status->requiredAck.clsID = UBX_CLASS_CFG;
status->requiredAck.msgID = UBX_ID_CFG_GNSS;
}
void config_save(uint16_t *bytes_to_send)
{
memset(status->working_packet.buffer, 0, sizeof(UBXSentHeader_t) + sizeof(ubx_cfg_cfg_t));
@ -244,13 +303,21 @@ static void configure(uint16_t *bytes_to_send)
config_nav(bytes_to_send);
break;
case LAST_CONFIG_SENT_START + 2:
if (status->currentSettings.enableGLONASS || status->currentSettings.enableGPS) {
config_gnss(bytes_to_send);
break;
} else {
// Skip and fall through to next step
status->lastConfigSent++;
}
case LAST_CONFIG_SENT_START + 3:
config_sbas(bytes_to_send);
if (!status->currentSettings.storeSettings) {
// skips saving
status->lastConfigSent = LAST_CONFIG_SENT_COMPLETED;
}
break;
case LAST_CONFIG_SENT_START + 3:
case LAST_CONFIG_SENT_START + 4:
config_save(bytes_to_send);
status->lastConfigSent = LAST_CONFIG_SENT_COMPLETED;
return;
@ -308,22 +375,12 @@ void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send, bool gps_connec
switch (status->currentStep) {
case INIT_STEP_ERROR:
if (PIOS_DELAY_DiffuS(status->lastStepTimestampRaw) > UBX_ERROR_RETRY_TIMEOUT) {
status->currentStep = INIT_STEP_START;
status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
}
return;
case INIT_STEP_DISABLED:
case INIT_STEP_DONE:
return;
case INIT_STEP_START:
case INIT_STEP_ASK_VER:
// clear ack
ubxLastAck.clsID = 0x00;
ubxLastAck.msgID = 0x00;
status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
build_request(&status->working_packet, UBX_CLASS_MON, UBX_ID_MON_VER, bytes_to_send);
status->currentStep = INIT_STEP_WAIT_VER;
@ -366,15 +423,12 @@ void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send, bool gps_connec
{
bool step_configure = (status->currentStep == INIT_STEP_CONFIGURE_WAIT_ACK);
if (ubxLastAck.clsID == status->requiredAck.clsID && ubxLastAck.msgID == status->requiredAck.msgID) {
// clear ack
ubxLastAck.clsID = 0x00;
ubxLastAck.msgID = 0x00;
// Continue with next configuration option
status->retryCount = 0;
status->lastConfigSent++;
} else if (PIOS_DELAY_DiffuS(status->lastStepTimestampRaw) > UBX_REPLY_TIMEOUT) {
// timeout, resend the message or abort
} else if (PIOS_DELAY_DiffuS(status->lastStepTimestampRaw) > UBX_REPLY_TIMEOUT ||
(ubxLastNak.clsID == status->requiredAck.clsID && ubxLastNak.msgID == status->requiredAck.msgID)) {
// timeout or NAK, resend the message or abort
status->retryCount++;
if (status->retryCount > UBX_MAX_RETRIES) {
status->currentStep = INIT_STEP_ERROR;

16
ground/openpilotgcs/src/plugins/gpsdisplay/gpsconstellationwidget.cpp
View File

@ -129,13 +129,25 @@ void GpsConstellationWidget::updateSat(int index, int prn, int elevation, int az
-satIcons[index]->boundingRect().center().y());
satIcons[index]->setTransform(QTransform::fromTranslate(opd.x(), opd.y()), false);
// Show normal GPS or SBAS (120 - 158 range)
if (prn > 119 && prn < 159) {
// Show normal GPS, SBAS/QZSS (120-158,193-197 range), BeiDou (33-64, 159-163) or GLONASS (65-96, 255 if unidentified)
if ((prn > 119 && prn < 159) || (prn > 192 && prn < 198)) {
if (snr) {
satIcons[index]->setElementId("satellite-sbas");
} else {
satIcons[index]->setElementId("sat-sbas-notSeen");
}
} else if ((prn > 64 && prn < 97) || 255 == prn) {
if (snr) {
satIcons[index]->setElementId("satellite-glonass");
} else {
satIcons[index]->setElementId("sat-glonass-notSeen");
}
} else if ((prn > 32 && prn < 65) || (prn > 158 && prn < 164)) {
if (snr) {
satIcons[index]->setElementId("satellite-beidou");
} else {
satIcons[index]->setElementId("sat-beidou-notSeen");
}
} else {
if (snr) {
satIcons[index]->setElementId("satellite");

2
ground/openpilotgcs/src/plugins/gpsdisplay/gpsdisplaywidget.ui
View File

@ -127,7 +127,7 @@
</palette>
</property>
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Displays the SNR for each detected sat. Satellite number (PRN) is displayed inside the green bar (GPS) or orange bar (SBAS). Sat SNR is displayed above (in dBHz)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Displays the SNR for each detected sat. GPS satellites are shown in green, GLONASS in cyan, BeiDou in red and SBAS/QZSS in orange. Satellite number (PRN) is displayed inside the bar. Sat SNR is displayed above (in dBHz)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="autoFillBackground">
<bool>false</bool>

9
ground/openpilotgcs/src/plugins/gpsdisplay/gpssnrwidget.cpp
View File

@ -104,9 +104,14 @@ void GpsSnrWidget::drawSat(int index)
QRectF boxRect = boxes[index]->boundingRect();
// Change color for SBAS sat (Egnos, etc..) 120 - 158 range
if (prn > 119 && prn < 159) {
// Change color for SBAS & QZSS 120-158, 193-197 range
// GLONASS range 65-96 or 255, BeiDou 33-64 or 159-163
if ((prn > 119 && prn < 159) || (prn > 192 && prn < 198)) {
boxes[index]->setBrush(QColor("#fd700b"));
} else if ((prn > 64 && prn < 97) || 255 == prn) {
boxes[index]->setBrush(QColor("Cyan"));
} else if ((prn > 32 && prn < 65) || (prn > 158 && prn < 164)) {
boxes[index]->setBrush(QColor("Red"));
} else {
boxes[index]->setBrush(QColor("Green"));
}

208
ground/openpilotgcs/src/plugins/gpsdisplay/images/gpsEarth.svg
View File

@ -14,8 +14,8 @@
height="691.54303"
id="svg2"
version="1.1"
inkscape:version="0.48.5 r10040"
sodipodi:docname="gpsEarth_work.svg">
inkscape:version="0.48.4 r9939"
sodipodi:docname="gpsEarth.svg">
<defs
id="defs4">
<linearGradient
@ -618,7 +618,7 @@
<linearGradient
id="linearGradient3845-3">
<stop
style="stop-color:#ffe054;stop-opacity:1;"
style="stop-color:#00e054;stop-opacity:1;"
offset="0"
id="stop3847-6" />
<stop
@ -907,6 +907,102 @@
y1="353.18066"
x2="148.63506"
y2="481.89807" />
<radialGradient
inkscape:collect="always"
xlink:href="#linearGradient3815-6-7"
id="radialGradient3937-6-0"
gradientUnits="userSpaceOnUse"
gradientTransform="matrix(-0.11243486,0.51064271,-0.68854473,-0.15160586,748.65596,-75.556107)"
cx="559.92383"
cy="182.67093"
fx="559.92383"
fy="182.67093"
r="21.496641" />
<linearGradient
id="linearGradient3815-6-7">
<stop
style="stop-color:#f1f4fc;stop-opacity:1;"
offset="0"
id="stop3817-4-6" />
<stop
style="stop-color:#f1f4fc;stop-opacity:0;"
offset="1"
id="stop3819-6-4" />
</linearGradient>
<filter
inkscape:collect="always"
id="filter3985-6-8"
color-interpolation-filters="sRGB">
<feGaussianBlur
inkscape:collect="always"
stdDeviation="0.8285714"
id="feGaussianBlur3987-7-5" />
</filter>
<radialGradient
r="21.496641"
fy="182.67093"
fx="559.92383"
cy="182.67093"
cx="559.92383"
gradientTransform="matrix(-0.11243486,0.51064271,-0.68854473,-0.15160586,748.65596,-75.556107)"
gradientUnits="userSpaceOnUse"
id="radialGradient3207"
xlink:href="#linearGradient3815-6-7"
inkscape:collect="always" />
<radialGradient
inkscape:collect="always"
xlink:href="#linearGradient3815-6-9"
id="radialGradient4015-9-9"
gradientUnits="userSpaceOnUse"
gradientTransform="matrix(-0.11243486,0.51064271,-0.68854473,-0.15160586,748.65596,-75.556107)"
cx="559.92383"
cy="182.67093"
fx="559.92383"
fy="182.67093"
r="21.496641" />
<linearGradient
inkscape:collect="always"
id="linearGradient3815-6-9">
<stop
style="stop-color:#f1f4fc;stop-opacity:1;"
offset="0"
id="stop3817-4-7" />
<stop
style="stop-color:#f1f4fc;stop-opacity:0;"
offset="1"
id="stop3819-6-3" />
</linearGradient>
<filter
inkscape:collect="always"
id="filter3985-6-6"
color-interpolation-filters="sRGB">
<feGaussianBlur
inkscape:collect="always"
stdDeviation="0.8285714"
id="feGaussianBlur3987-7-8" />
</filter>
<radialGradient
r="21.496641"
fy="182.67093"
fx="559.92383"
cy="182.67093"
cx="559.92383"
gradientTransform="matrix(-0.11243486,0.51064271,-0.68854473,-0.15160586,748.65596,-75.556107)"
gradientUnits="userSpaceOnUse"
id="radialGradient4023"
xlink:href="#linearGradient3815-6-9"
inkscape:collect="always" />
<radialGradient
inkscape:collect="always"
xlink:href="#linearGradient3815-6-7"
id="radialGradient4050"
gradientUnits="userSpaceOnUse"
gradientTransform="matrix(-0.11243486,0.51064271,-0.68854473,-0.15160586,748.65596,-75.556107)"
cx="559.92383"
cy="182.67093"
fx="559.92383"
fy="182.67093"
r="21.496641" />
</defs>
<sodipodi:namedview
id="base"
@ -915,16 +1011,16 @@
borderopacity="1.0"
inkscape:pageopacity="0.0"
inkscape:pageshadow="2"
inkscape:zoom="0.43130409"
inkscape:cx="302.55734"
inkscape:cy="389.84143"
inkscape:zoom="1.2199122"
inkscape:cx="466.74374"
inkscape:cy="457.17106"
inkscape:document-units="px"
inkscape:current-layer="layer10"
inkscape:current-layer="layer13"
showgrid="false"
inkscape:window-width="1280"
inkscape:window-height="928"
inkscape:window-width="2560"
inkscape:window-height="1414"
inkscape:window-x="0"
inkscape:window-y="27"
inkscape:window-y="18"
inkscape:window-maximized="1"
inkscape:snap-object-midpoints="true"
inkscape:object-nodes="false"
@ -943,7 +1039,7 @@
<dc:format>image/svg+xml</dc:format>
<dc:type
rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
<dc:title></dc:title>
<dc:title />
</cc:Work>
</rdf:RDF>
</metadata>
@ -1007,7 +1103,7 @@
style="opacity:0.69172932;color:#000000;fill:#616a60;fill-opacity:1;fill-rule:nonzero;stroke:#6a6c69;stroke-width:2;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;marker:none;visibility:visible;display:inline;overflow:visible;filter:url(#filter5048);enable-background:accumulate" />
<path
transform="translate(-16.439758,-3.266917)"
d="M 598.0103,404.8544 A 227.28432,227.28432 0 1 1 143.44167,404.8544 A 227.28432,227.28432 0 1 1 598.0103,404.8544 z"
d="m 598.0103,404.8544 c 0,125.52566 -101.75866,227.28432 -227.28432,227.28432 -125.52566,0 -227.28431,-101.75866 -227.28431,-227.28432 0,-125.52566 101.75865,-227.28432 227.28431,-227.28432 125.52566,0 227.28432,101.75866 227.28432,227.28432 z"
sodipodi:ry="227.28432"
sodipodi:rx="227.28432"
sodipodi:cy="404.8544"
@ -1017,7 +1113,7 @@
sodipodi:type="arc" />
<path
transform="matrix(1.0229478,0,0,0.27614188,-24.947098,289.79023)"
d="M 598.0103,404.8544 A 227.28432,227.28432 0 1 1 143.44167,404.8544 A 227.28432,227.28432 0 1 1 598.0103,404.8544 z"
d="m 598.0103,404.8544 c 0,125.52566 -101.75866,227.28432 -227.28432,227.28432 -125.52566,0 -227.28431,-101.75866 -227.28431,-227.28432 0,-125.52566 101.75865,-227.28432 227.28431,-227.28432 125.52566,0 227.28432,101.75866 227.28432,227.28432 z"
sodipodi:ry="227.28432"
sodipodi:rx="227.28432"
sodipodi:cy="404.8544"
@ -1056,14 +1152,14 @@
sodipodi:cy="410.41025"
sodipodi:rx="89.398499"
sodipodi:ry="89.398499"
d="M 451.71402,343.4835 A 89.398499,89.398499 0 1 1 437.72993,333.33041"
d="m 451.71402,343.4835 c 36.96262,32.73378 40.39077,89.23387 7.657,126.19649 -32.73378,36.96262 -89.23387,40.39078 -126.19649,7.657 -36.96262,-32.73377 -40.39077,-89.23386 -7.657,-126.19648 28.33719,-31.99805 75.3601,-39.46142 112.2124,-17.8101"
transform="matrix(1.2638612,0,0,1.2638612,-124.40402,-114.71229)"
sodipodi:start="5.4371862"
sodipodi:end="11.526764"
sodipodi:open="true" />
<path
transform="matrix(1.9716104,0,0,1.9716104,-399.86707,-407.46887)"
d="M 451.12161,342.96352 A 89.398499,89.398499 0 1 1 442.12815,336.08929"
d="m 451.12161,342.96352 c 37.2498,32.4066 41.17599,88.87427 8.76939,126.12407 -32.4066,37.2498 -88.87426,41.17599 -126.12407,8.76939 -37.2498,-32.4066 -41.17598,-88.87427 -8.76938,-126.12407 29.53979,-33.95454 79.71538,-40.65585 117.1306,-15.64362"
sodipodi:ry="89.398499"
sodipodi:rx="89.398499"
sodipodi:cy="410.41025"
@ -1148,7 +1244,7 @@
sodipodi:cy="404.8544"
sodipodi:rx="227.28432"
sodipodi:ry="227.28432"
d="M 598.0103,404.8544 A 227.28432,227.28432 0 1 1 143.44167,404.8544 A 227.28432,227.28432 0 1 1 598.0103,404.8544 z"
d="m 598.0103,404.8544 c 0,125.52566 -101.75866,227.28432 -227.28432,227.28432 -125.52566,0 -227.28431,-101.75866 -227.28431,-227.28432 0,-125.52566 101.75865,-227.28432 227.28431,-227.28432 125.52566,0 227.28432,101.75866 227.28432,227.28432 z"
transform="matrix(1.0185,0,0,1.0185,-23.298188,-10.756724)" />
<path
style="color:#000000;fill:url(#linearGradient5561);fill-opacity:1;fill-rule:nonzero;stroke:none;stroke-width:2;marker:none;visibility:visible;display:inline;overflow:visible;enable-background:accumulate"
@ -1238,13 +1334,13 @@
inkscape:label="#g3722">
<path
transform="translate(0.08444214,2.2540576e-8)"
d="M 589.99999,195.93361 C 589.99999,207.37379 580.72589,216.64789 569.28571,216.64789 C 557.84552,216.64789 548.57142,207.37379 548.57142,195.93361 C 548.57142,184.49343 557.84552,175.21932 569.28571,175.21932 C 580.72589,175.21932 589.99999,184.49343 589.99999,195.93361 z"
d="m 589.99999,195.93361 c 0,11.44018 -9.2741,20.71428 -20.71428,20.71428 -11.44019,0 -20.71429,-9.2741 -20.71429,-20.71428 0,-11.44018 9.2741,-20.71429 20.71429,-20.71429 11.44018,0 20.71428,9.27411 20.71428,20.71429 z"
sodipodi:ry="20.714285"
sodipodi:rx="20.714285"
sodipodi:cy="195.93361"
sodipodi:cx="569.28571"
id="path3712"
style="fill:url(#linearGradient3859-7);fill-opacity:1;stroke:#fcaa21;stroke-width:1.56471384;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
style="fill:url(#linearGradient3859-7);fill-opacity:1;stroke:#029909;stroke-width:1.56471384000000002;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
sodipodi:type="arc" />
<path
sodipodi:type="arc"
@ -1254,7 +1350,7 @@
sodipodi:cy="195.93361"
sodipodi:rx="20.714285"
sodipodi:ry="20.714285"
d="M 589.99999,195.93361 C 589.99999,207.37379 580.72589,216.64789 569.28571,216.64789 C 557.84552,216.64789 548.57142,207.37379 548.57142,195.93361 C 548.57142,184.49343 557.84552,175.21932 569.28571,175.21932 C 580.72589,175.21932 589.99999,184.49343 589.99999,195.93361 z"
d="m 589.99999,195.93361 c 0,11.44018 -9.2741,20.71428 -20.71428,20.71428 -11.44019,0 -20.71429,-9.2741 -20.71429,-20.71428 0,-11.44018 9.2741,-20.71429 20.71429,-20.71429 11.44018,0 20.71428,9.27411 20.71428,20.71429 z"
transform="translate(0.08444218,2.2540576e-8)" />
</g>
<g
@ -1264,17 +1360,17 @@
style="opacity:0.4">
<path
sodipodi:type="arc"
style="fill:#ffe054;fill-opacity:1;stroke:#fcaa21;stroke-width:1.56471384;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
style="fill:#54ff95;fill-opacity:1;stroke:#03ba3a;stroke-width:1.56471384000000002;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
id="path3891"
sodipodi:cx="569.28571"
sodipodi:cy="195.93361"
sodipodi:rx="20.714285"
sodipodi:ry="20.714285"
d="M 589.99999,195.93361 C 589.99999,207.37379 580.72589,216.64789 569.28571,216.64789 C 557.84552,216.64789 548.57142,207.37379 548.57142,195.93361 C 548.57142,184.49343 557.84552,175.21932 569.28571,175.21932 C 580.72589,175.21932 589.99999,184.49343 589.99999,195.93361 z"
d="m 589.99999,195.93361 c 0,11.44018 -9.2741,20.71428 -20.71428,20.71428 -11.44019,0 -20.71429,-9.2741 -20.71429,-20.71428 0,-11.44018 9.2741,-20.71429 20.71429,-20.71429 11.44018,0 20.71428,9.27411 20.71428,20.71429 z"
transform="translate(0.08444214,2.2540576e-8)" />
<path
transform="translate(0.08444218,2.2540576e-8)"
d="M 589.99999,195.93361 C 589.99999,207.37379 580.72589,216.64789 569.28571,216.64789 C 557.84552,216.64789 548.57142,207.37379 548.57142,195.93361 C 548.57142,184.49343 557.84552,175.21932 569.28571,175.21932 C 580.72589,175.21932 589.99999,184.49343 589.99999,195.93361 z"
d="m 589.99999,195.93361 c 0,11.44018 -9.2741,20.71428 -20.71428,20.71428 -11.44019,0 -20.71429,-9.2741 -20.71429,-20.71428 0,-11.44018 9.2741,-20.71429 20.71429,-20.71429 11.44018,0 20.71428,9.27411 20.71428,20.71429 z"
sodipodi:ry="20.714285"
sodipodi:rx="20.714285"
sodipodi:cy="195.93361"
@ -1295,11 +1391,11 @@
sodipodi:cy="195.93361"
sodipodi:rx="20.714285"
sodipodi:ry="20.714285"
d="M 589.99999,195.93361 C 589.99999,207.37379 580.72589,216.64789 569.28571,216.64789 C 557.84552,216.64789 548.57142,207.37379 548.57142,195.93361 C 548.57142,184.49343 557.84552,175.21932 569.28571,175.21932 C 580.72589,175.21932 589.99999,184.49343 589.99999,195.93361 z"
d="m 589.99999,195.93361 c 0,11.44018 -9.2741,20.71428 -20.71428,20.71428 -11.44019,0 -20.71429,-9.2741 -20.71429,-20.71428 0,-11.44018 9.2741,-20.71429 20.71429,-20.71429 11.44018,0 20.71428,9.27411 20.71428,20.71429 z"
transform="translate(0.08444214,2.2540576e-8)" />
<path
transform="translate(0.08444218,-2.2540576e-8)"
d="M 589.99999,195.93361 C 589.99999,207.37379 580.72589,216.64789 569.28571,216.64789 C 557.84552,216.64789 548.57142,207.37379 548.57142,195.93361 C 548.57142,184.49343 557.84552,175.21932 569.28571,175.21932 C 580.72589,175.21932 589.99999,184.49343 589.99999,195.93361 z"
d="m 589.99999,195.93361 c 0,11.44018 -9.2741,20.71428 -20.71428,20.71428 -11.44019,0 -20.71429,-9.2741 -20.71429,-20.71428 0,-11.44018 9.2741,-20.71429 20.71429,-20.71429 11.44018,0 20.71428,9.27411 20.71428,20.71429 z"
sodipodi:ry="20.714285"
sodipodi:rx="20.714285"
sodipodi:cy="195.93361"
@ -1315,7 +1411,7 @@
style="opacity:0.4">
<path
transform="translate(0.08444214,2.2540576e-8)"
d="M 589.99999,195.93361 C 589.99999,207.37379 580.72589,216.64789 569.28571,216.64789 C 557.84552,216.64789 548.57142,207.37379 548.57142,195.93361 C 548.57142,184.49343 557.84552,175.21932 569.28571,175.21932 C 580.72589,175.21932 589.99999,184.49343 589.99999,195.93361 z"
d="m 589.99999,195.93361 c 0,11.44018 -9.2741,20.71428 -20.71428,20.71428 -11.44019,0 -20.71429,-9.2741 -20.71429,-20.71428 0,-11.44018 9.2741,-20.71429 20.71429,-20.71429 11.44018,0 20.71428,9.27411 20.71428,20.71429 z"
sodipodi:ry="20.714285"
sodipodi:rx="20.714285"
sodipodi:cy="195.93361"
@ -1331,7 +1427,7 @@
sodipodi:cy="195.93361"
sodipodi:rx="20.714285"
sodipodi:ry="20.714285"
d="M 589.99999,195.93361 C 589.99999,207.37379 580.72589,216.64789 569.28571,216.64789 C 557.84552,216.64789 548.57142,207.37379 548.57142,195.93361 C 548.57142,184.49343 557.84552,175.21932 569.28571,175.21932 C 580.72589,175.21932 589.99999,184.49343 589.99999,195.93361 z"
d="m 589.99999,195.93361 c 0,11.44018 -9.2741,20.71428 -20.71428,20.71428 -11.44019,0 -20.71429,-9.2741 -20.71429,-20.71428 0,-11.44018 9.2741,-20.71429 20.71429,-20.71429 11.44018,0 20.71428,9.27411 20.71428,20.71429 z"
transform="translate(0.08444218,-2.2540576e-8)" />
</g>
<g
@ -1340,7 +1436,7 @@
inkscape:label="#g3722">
<path
transform="translate(0.08444214,2.2540576e-8)"
d="M 589.99999,195.93361 C 589.99999,207.37379 580.72589,216.64789 569.28571,216.64789 C 557.84552,216.64789 548.57142,207.37379 548.57142,195.93361 C 548.57142,184.49343 557.84552,175.21932 569.28571,175.21932 C 580.72589,175.21932 589.99999,184.49343 589.99999,195.93361 z"
d="m 589.99999,195.93361 c 0,11.44018 -9.2741,20.71428 -20.71428,20.71428 -11.44019,0 -20.71429,-9.2741 -20.71429,-20.71428 0,-11.44018 9.2741,-20.71429 20.71429,-20.71429 11.44018,0 20.71428,9.27411 20.71428,20.71429 z"
sodipodi:ry="20.714285"
sodipodi:rx="20.714285"
sodipodi:cy="195.93361"
@ -1356,7 +1452,7 @@
sodipodi:cy="195.93361"
sodipodi:rx="20.714285"
sodipodi:ry="20.714285"
d="M 589.99999,195.93361 C 589.99999,207.37379 580.72589,216.64789 569.28571,216.64789 C 557.84552,216.64789 548.57142,207.37379 548.57142,195.93361 C 548.57142,184.49343 557.84552,175.21932 569.28571,175.21932 C 580.72589,175.21932 589.99999,184.49343 589.99999,195.93361 z"
d="m 589.99999,195.93361 c 0,11.44018 -9.2741,20.71428 -20.71428,20.71428 -11.44019,0 -20.71429,-9.2741 -20.71429,-20.71428 0,-11.44018 9.2741,-20.71429 20.71429,-20.71429 11.44018,0 20.71428,9.27411 20.71428,20.71429 z"
transform="translate(0.08444218,2.2540576e-8)" />
</g>
<g
@ -1372,11 +1468,11 @@
sodipodi:cy="195.93361"
sodipodi:rx="20.714285"
sodipodi:ry="20.714285"
d="M 589.99999,195.93361 C 589.99999,207.37379 580.72589,216.64789 569.28571,216.64789 C 557.84552,216.64789 548.57142,207.37379 548.57142,195.93361 C 548.57142,184.49343 557.84552,175.21932 569.28571,175.21932 C 580.72589,175.21932 589.99999,184.49343 589.99999,195.93361 z"
d="m 589.99999,195.93361 c 0,11.44018 -9.2741,20.71428 -20.71428,20.71428 -11.44019,0 -20.71429,-9.2741 -20.71429,-20.71428 0,-11.44018 9.2741,-20.71429 20.71429,-20.71429 11.44018,0 20.71428,9.27411 20.71428,20.71429 z"
transform="translate(0.08444214,2.2540576e-8)" />
<path
transform="translate(0.08444218,2.2540576e-8)"
d="M 589.99999,195.93361 C 589.99999,207.37379 580.72589,216.64789 569.28571,216.64789 C 557.84552,216.64789 548.57142,207.37379 548.57142,195.93361 C 548.57142,184.49343 557.84552,175.21932 569.28571,175.21932 C 580.72589,175.21932 589.99999,184.49343 589.99999,195.93361 z"
d="m 589.99999,195.93361 c 0,11.44018 -9.2741,20.71428 -20.71428,20.71428 -11.44019,0 -20.71429,-9.2741 -20.71429,-20.71428 0,-11.44018 9.2741,-20.71429 20.71429,-20.71429 11.44018,0 20.71428,9.27411 20.71428,20.71429 z"
sodipodi:ry="20.714285"
sodipodi:rx="20.714285"
sodipodi:cy="195.93361"
@ -1385,6 +1481,58 @@
style="fill:url(#radialGradient4055-2);fill-opacity:1;stroke:none;filter:url(#filter3985-6)"
sodipodi:type="arc" />
</g>
<g
style="display:inline"
inkscape:label="#g3722"
transform="matrix(0.93879118,0,0,0.93879118,-73.44061,-70.698335)"
id="satellite-beidou">
<path
sodipodi:type="arc"
style="fill:#ff0000;fill-opacity:1;stroke:#ff5721;stroke-width:1.56471384;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
id="path3915-7"
sodipodi:cx="569.28571"
sodipodi:cy="195.93361"
sodipodi:rx="20.714285"
sodipodi:ry="20.714285"
d="m 589.99999,195.93361 c 0,11.44018 -9.2741,20.71428 -20.71428,20.71428 -11.44019,0 -20.71429,-9.2741 -20.71429,-20.71428 0,-11.44018 9.2741,-20.71429 20.71429,-20.71429 11.44018,0 20.71428,9.27411 20.71428,20.71429 z"
transform="translate(0.08444214,2.2540576e-8)" />
<path
transform="translate(0.08444218,-2.2540576e-8)"
d="m 589.99999,195.93361 c 0,11.44018 -9.2741,20.71428 -20.71428,20.71428 -11.44019,0 -20.71429,-9.2741 -20.71429,-20.71428 0,-11.44018 9.2741,-20.71429 20.71429,-20.71429 11.44018,0 20.71428,9.27411 20.71428,20.71429 z"
sodipodi:ry="20.714285"
sodipodi:rx="20.714285"
sodipodi:cy="195.93361"
sodipodi:cx="569.28571"
id="path3921-2"
style="fill:url(#radialGradient4050);fill-opacity:1;stroke:none;filter:url(#filter3985-6-8)"
sodipodi:type="arc" />
</g>
<g
id="sat-beidou-notSeen"
transform="matrix(0.93879118,0,0,0.93879118,-10.549949,-69.249241)"
inkscape:label="#g3722"
style="opacity:0.4;display:inline">
<path
transform="translate(0.08444214,2.2540576e-8)"
d="m 589.99999,195.93361 c 0,11.44018 -9.2741,20.71428 -20.71428,20.71428 -11.44019,0 -20.71429,-9.2741 -20.71429,-20.71428 0,-11.44018 9.2741,-20.71429 20.71429,-20.71429 11.44018,0 20.71428,9.27411 20.71428,20.71429 z"
sodipodi:ry="20.714285"
sodipodi:rx="20.714285"
sodipodi:cy="195.93361"
sodipodi:cx="569.28571"
id="path4003-9"
style="fill:#ff0000;fill-opacity:1;stroke:#ff5721;stroke-width:1.56471384;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
sodipodi:type="arc" />
<path
sodipodi:type="arc"
style="fill:url(#radialGradient4023);fill-opacity:1;stroke:none;filter:url(#filter3985-6-6)"
id="path4009-9"
sodipodi:cx="569.28571"
sodipodi:cy="195.93361"
sodipodi:rx="20.714285"
sodipodi:ry="20.714285"
d="m 589.99999,195.93361 c 0,11.44018 -9.2741,20.71428 -20.71428,20.71428 -11.44019,0 -20.71429,-9.2741 -20.71429,-20.71428 0,-11.44018 9.2741,-20.71429 20.71429,-20.71429 11.44018,0 20.71428,9.27411 20.71428,20.71429 z"
transform="translate(0.08444218,-2.2540576e-8)" />
</g>
</g>
</g>
</svg>

Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 79 KiB

After

Width:  |  Height:  |  Size: 85 KiB

2
shared/uavobjectdefinition/gpssatellites.xml
View File

@ -2,7 +2,7 @@
<object name="GPSSatellites" singleinstance="true" settings="false" category="Sensors">
<description>Contains information about the GPS satellites in view from @ref GPSModule.</description>
<field name="SatsInView" units="" type="int8" elements="1"/>
<field name="PRN" units="" type="int8" elements="16"/>
<field name="PRN" units="" type="uint8" elements="16"/>
<field name="Elevation" units="degrees" type="int8" elements="16"/>
<field name="Azimuth" units="degrees" type="int16" elements="16"/>
<field name="SNR" units="" type="int8" elements="16"/>

2
shared/uavobjectdefinition/gpssettings.xml
View File

@ -16,6 +16,8 @@
<field name="UbxSBASMode" units="" type="enum" elements="1" options="Disabled,Ranging,Correction,Integrity,Ranging+Correction,Ranging+Integrity,Ranging+Correction+Integrity,Correction+Integrity" defaultvalue="Ranging" />
<field name="UbxSBASChannelsUsed" units="" type="uint8" elements="1" defaultvalue="3"/>
<field name="UbxSBASSats" units="" type="enum" elements="1" options="AutoScan,WAAS,EGNOS,MSAS,GAGAN,SDCM" defaultvalue="Auto-Scan" />
<!-- Ubx GNSS configuration, only applies to Ublox generation 7+ and concurrent GNSS only to generation 8 -->
<field name="UbxGNSSMode" units="" type="enum" elements="1" options="Default,GPS,GLONASS,GPS+GLONASS,GPS+BeiDou,GLONASS+BeiDou" defaultvalue="Default" />
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>