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LibrePilot/flight/modules/GPS/GPS.c

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/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup GPSModule GPS Module
* @brief Process GPS information
* @{
*
* @file GPS.c
* @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 various streams
* @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 "gpspositionsensor.h"
#include "homelocation.h"
#include "gpstime.h"
#include "gpssatellites.h"
#include "gpsvelocitysensor.h"
#include "gpssettings.h"
#include "taskinfo.h"
#include "hwsettings.h"
#include "auxmagsensor.h"
#include "WorldMagModel.h"
#include "CoordinateConversions.h"
#include <pios_com.h>
#include <pios_board_io.h>
#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);
#if defined(PIOS_GPS_SETS_HOMELOCATION)
static void setHomeLocation(GPSPositionSensorData *gpsData);
static float GravityAccel(float latitude, float longitude, float altitude);
#endif
#if defined(ANY_FULL_MAG_PARSER)
void AuxMagSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev);
#endif
#if defined(ANY_FULL_GPS_PARSER)
void updateGpsSettings(__attribute__((unused)) UAVObjEvent *ev);
#endif
// ****************
// Private constants
// GPS timeout is greater than 1000ms so that a stock GPS configuration can be used without timeout errors
#define GPS_TIMEOUT_MS 1250
// delay from detecting HomeLocation.Set == False before setting new homelocation
// this prevent that a save with homelocation.Set = false triggered by gps ends saving
// the new location with Set = true.
#define GPS_HOMELOCATION_SET_DELAY 5000
// PIOS serial port receive buffer for GPS is set to 32 bytes for the minimal and 128 bytes for the full version.
// GPS_READ_BUFFER is defined a few lines below in this file.
//
// 57600 bps = 5760 bytes per second
//
// For 32 bytes buffer: this is a maximum of 5760/32 = 180 buffers per second
// that is 1/180 = 0.0056 seconds per packet
// We must never wait more than 5ms since packet was last drained or it may overflow
//
// For 128 bytes buffer: this is a maximum of 5760/128 = 45 buffers per second
// that is 1/45 = 0.022 seconds per packet
// We must never wait more than 22ms since packet was last drained or it may overflow
// There are two delays in play for the GPS task:
// - GPS_BLOCK_ON_NO_DATA_MS is the time to block while waiting to receive serial data from the GPS
// - GPS_LOOP_DELAY_MS is used for a context switch initiated by calling vTaskDelayUntil() to let other tasks run
//
// The delayMs time is not that critical. It should not be too high so that maintenance actions within this task
// are run often enough.
// GPS_LOOP_DELAY_MS on the other hand, should be less then 5.55 ms. A value set too high will cause data to be dropped.
#define GPS_LOOP_DELAY_MS 5
#define GPS_BLOCK_ON_NO_DATA_MS 20
#ifdef PIOS_GPS_SETS_HOMELOCATION
// Unfortunately need a good size stack for the WMM calculation
#define STACK_SIZE_BYTES 1024
#else
#if defined(PIOS_GPS_MINIMAL)
#define GPS_READ_BUFFER 32
#ifdef PIOS_INCLUDE_GPS_NMEA_PARSER
#define STACK_SIZE_BYTES 580 // NMEA
#else // PIOS_INCLUDE_GPS_NMEA_PARSER
#define STACK_SIZE_BYTES 440 // UBX
#endif // PIOS_INCLUDE_GPS_NMEA_PARSER
#else // PIOS_GPS_MINIMAL
#define STACK_SIZE_BYTES 650
#endif // PIOS_GPS_MINIMAL
#endif // PIOS_GPS_SETS_HOMELOCATION
#ifndef GPS_READ_BUFFER
#define GPS_READ_BUFFER 128
#endif
#define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
// ****************
// Private variables
static GPSSettingsData gpsSettings;
#define gpsPort PIOS_COM_GPS
static bool gpsEnabled = false;
static xTaskHandle gpsTaskHandle;
static char *gps_rx_buffer;
static uint32_t timeOfLastUpdateMs;
#if defined(ANY_GPS_PARSER)
static struct GPS_RX_STATS gpsRxStats;
#endif
// ****************
/**
* Initialise the gps module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t GPSStart(void)
{
if (gpsEnabled) {
// Start gps task
xTaskCreate(gpsTask, "GPS", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &gpsTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_GPS, gpsTaskHandle);
return 0;
}
return -1;
}
/**
* Initialise the gps module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t GPSInitialize(void)
{
HwSettingsOptionalModulesData optionalModules;
HwSettingsOptionalModulesGet(&optionalModules);
#ifdef MODULE_GPS_BUILTIN
gpsEnabled = true;
optionalModules.GPS = HWSETTINGS_OPTIONALMODULES_ENABLED;
HwSettingsOptionalModulesSet(&optionalModules);
#else
if (optionalModules.GPS == HWSETTINGS_OPTIONALMODULES_ENABLED) {
gpsEnabled = true;
} else {
gpsEnabled = false;
}
#endif
#if defined(REVOLUTION)
// These objects MUST be initialized for Revolution
// because the rest of the system expects to just
// attach to their queues
GPSPositionSensorInitialize();
GPSVelocitySensorInitialize();
GPSTimeInitialize();
GPSSatellitesInitialize();
#if defined(ANY_FULL_MAG_PARSER)
AuxMagSensorInitialize();
GPSExtendedStatusInitialize();
// Initialize mag parameters
AuxMagSettingsUpdatedCb(NULL);
AuxMagSettingsConnectCallback(AuxMagSettingsUpdatedCb);
#endif
// updateHwSettings() uses gpsSettings
GPSSettingsGet(&gpsSettings);
// must updateHwSettings() before updateGpsSettings() so baud rate is set before GPS serial code starts running
updateHwSettings(0);
#else /* if defined(REVOLUTION) */
if (gpsEnabled) {
GPSPositionSensorInitialize();
GPSVelocitySensorInitialize();
#if !defined(PIOS_GPS_MINIMAL)
GPSTimeInitialize();
GPSSatellitesInitialize();
#endif
// updateHwSettings() uses gpsSettings
GPSSettingsGet(&gpsSettings);
// must updateHwSettings() before updateGpsSettings() so baud rate is set before GPS serial code starts running
updateHwSettings(0);
}
#endif /* if defined(REVOLUTION) */
if (gpsEnabled) {
#if defined(PIOS_GPS_MINIMAL)
#if defined(PIOS_INCLUDE_GPS_UBX_PARSER)
gps_rx_buffer = pios_malloc(sizeof(struct UBXPacket));
#elif defined(PIOS_INCLUDE_GPS_DJI_PARSER)
gps_rx_buffer = pios_malloc(sizeof(struct DJIPacket));
#else
gps_rx_buffer = NULL;
#endif
#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(ANY_FULL_GPS_PARSER)
HwSettingsConnectCallback(updateHwSettings); // allow changing baud rate even after startup
GPSSettingsConnectCallback(updateGpsSettings);
#endif
return 0;
}
return -1;
}
MODULE_INITCALL(GPSInitialize, GPSStart);
// ****************
/**
* Main gps task. It does not return.
*/
static void gpsTask(__attribute__((unused)) void *parameters)
{
uint32_t timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
#ifdef PIOS_GPS_SETS_HOMELOCATION
portTickType homelocationSetDelay = 0;
#endif
GPSPositionSensorData gpspositionsensor;
timeOfLastUpdateMs = timeNowMs;
GPSPositionSensorGet(&gpspositionsensor);
#if defined(ANY_FULL_GPS_PARSER)
// this should be done in the task because it calls out to actually start the ubx GPS serial reads
updateGpsSettings(0);
#endif
TickType_t xLastWakeTime;
xLastWakeTime = xTaskGetTickCount();
PERF_INIT_COUNTER(counterBytesIn, 0x97510001);
PERF_INIT_COUNTER(counterRate, 0x97510002);
PERF_INIT_COUNTER(counterParse, 0x97510003);
uint8_t c[GPS_READ_BUFFER];
// Loop forever
while (1) {
if (gpsPort) {
#if defined(FULL_UBX_PARSER)
// do autoconfig stuff for UBX GPS's
if (gpsSettings.DataProtocol == GPSSETTINGS_DATAPROTOCOL_UBX) {
char *buffer = 0;
uint16_t count = 0;
gps_ubx_autoconfig_run(&buffer, &count);
// 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);
}
}
// need to do this whether there is received data or not, or the status (e.g. gcs) will not always be correct
int32_t ac_status = ubx_autoconfig_get_status();
static uint8_t lastStatus = GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_DISABLED
+ GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_RUNNING
+ GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_DONE
+ GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_ERROR;
gpspositionsensor.AutoConfigStatus =
ac_status == UBX_AUTOCONFIG_STATUS_DISABLED ? GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_DISABLED :
ac_status == UBX_AUTOCONFIG_STATUS_DONE ? GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_DONE :
ac_status == UBX_AUTOCONFIG_STATUS_ERROR ? GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_ERROR :
GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_RUNNING;
if (gpspositionsensor.AutoConfigStatus != lastStatus) {
GPSPositionSensorAutoConfigStatusSet(&gpspositionsensor.AutoConfigStatus);
lastStatus = gpspositionsensor.AutoConfigStatus;
}
#endif /* if defined(FULL_UBX_PARSER) */
uint16_t cnt;
int res;
// This blocks the task until there is something in the buffer (or GPS_BLOCK_ON_NO_DATA_MS passes)
cnt = PIOS_COM_ReceiveBuffer(gpsPort, c, GPS_READ_BUFFER, GPS_BLOCK_ON_NO_DATA_MS);
res = PARSER_INCOMPLETE;
if (cnt > 0) {
PERF_TIMED_SECTION_START(counterParse);
PERF_TRACK_VALUE(counterBytesIn, cnt);
PERF_MEASURE_PERIOD(counterRate);
switch (gpsSettings.DataProtocol) {
#if defined(PIOS_INCLUDE_GPS_NMEA_PARSER)
case GPSSETTINGS_DATAPROTOCOL_NMEA:
res = parse_nmea_stream(c, cnt, gps_rx_buffer, &gpspositionsensor, &gpsRxStats);
break;
#endif
#if defined(PIOS_INCLUDE_GPS_UBX_PARSER)
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
break;
}
PERF_TIMED_SECTION_END(counterParse);
if (res == PARSER_COMPLETE) {
timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
timeOfLastUpdateMs = timeNowMs;
}
}
// if there is a protocol error or communication error, or timeout error,
// 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 ||
(gpsSettings.DataProtocol == GPSSETTINGS_DATAPROTOCOL_UBX && gpspositionsensor.AutoConfigStatus == GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_ERROR)) {
// we have not received any valid GPS sentences for a while.
// either the GPS is not plugged in or a hardware problem or the GPS has locked up.
GPSPositionSensorStatusOptions status = GPSPOSITIONSENSOR_STATUS_NOGPS;
GPSPositionSensorStatusSet(&status);
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 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.Status == GPSPOSITIONSENSOR_STATUS_FIX3DDGNSS)) &&
(gpspositionsensor.Latitude != 0 || gpspositionsensor.Longitude != 0)) {
AlarmsClear(SYSTEMALARMS_ALARM_GPS);
#ifdef PIOS_GPS_SETS_HOMELOCATION
HomeLocationData home;
HomeLocationGet(&home);
if (home.Set == HOMELOCATION_SET_FALSE) {
if (homelocationSetDelay == 0) {
homelocationSetDelay = xTaskGetTickCount();
}
if (xTaskGetTickCount() - homelocationSetDelay > GPS_HOMELOCATION_SET_DELAY) {
setHomeLocation(&gpspositionsensor);
homelocationSetDelay = 0;
}
} else {
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.Status == GPSPOSITIONSENSOR_STATUS_FIX3DDGNSS)) &&
(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);
}
}
} // if (gpsPort)
vTaskDelayUntil(&xLastWakeTime, GPS_LOOP_DELAY_MS / portTICK_RATE_MS);
} // while (1)
}
#ifdef PIOS_GPS_SETS_HOMELOCATION
/*
* Estimate the acceleration due to gravity for a particular location in LLA
*/
static float GravityAccel(float latitude, __attribute__((unused)) float longitude, float altitude)
{
/* WGS84 gravity model. The effect of gravity over latitude is strong
* enough to change the estimated accelerometer bias in those apps. */
float sinsq = sinf(latitude);
sinsq *= sinsq;
/* Likewise, over the altitude range of a high-altitude balloon, the effect
* due to change in altitude can also affect the model. */
return 9.7803267714f * (1.0f + 0.00193185138639f * sinsq) / sqrtf(1.0f - 0.00669437999013f * sinsq)
- 3.086e-6f * altitude;
}
// ****************
static void setHomeLocation(GPSPositionSensorData *gpsData)
{
HomeLocationData home;
HomeLocationGet(&home);
GPSTimeData gps;
GPSTimeGet(&gps);
if (gps.Year >= 2000) {
/* Store LLA */
home.Latitude = gpsData->Latitude;
home.Longitude = gpsData->Longitude;
home.Altitude = gpsData->Altitude + gpsData->GeoidSeparation;
/* Compute home ECEF coordinates and the rotation matrix into NED
* Note that floats are used here - they should give enough precision
* for this application.*/
float LLA[3] = { (home.Latitude) / 10e6f, (home.Longitude) / 10e6f, (home.Altitude) };
/* Compute magnetic flux direction at home location */
if (WMM_GetMagVector(LLA[0], LLA[1], LLA[2], gps.Month, gps.Day, gps.Year, &home.Be[0]) == 0) {
/*Compute local acceleration due to gravity. Vehicles that span a very large
* range of altitude (say, weather balloons) may need to update this during the
* flight. */
home.g_e = GravityAccel(LLA[0], LLA[1], LLA[2]);
home.Set = HOMELOCATION_SET_TRUE;
HomeLocationSet(&home);
}
}
}
#endif /* ifdef PIOS_GPS_SETS_HOMELOCATION */
uint32_t hwsettings_gpsspeed_enum_to_baud(uint8_t baud)
{
switch (baud) {
case HWSETTINGS_GPSSPEED_2400:
return 2400;
case HWSETTINGS_GPSSPEED_4800:
return 4800;
default:
case HWSETTINGS_GPSSPEED_9600:
return 9600;
case HWSETTINGS_GPSSPEED_19200:
return 19200;
case HWSETTINGS_GPSSPEED_38400:
return 38400;
case HWSETTINGS_GPSSPEED_57600:
return 57600;
case HWSETTINGS_GPSSPEED_115200:
return 115200;
case HWSETTINGS_GPSSPEED_230400:
return 230400;
}
}
// having already set the GPS's baud rate with a serial command, set the local Revo port baud rate
void gps_set_fc_baud_from_arg(uint8_t baud)
{
static uint8_t previous_baud = 255;
static uint8_t mutex; // = 0
// do we need this?
// can the code stand having two tasks/threads do an XyzSet() call at the same time?
if (__sync_fetch_and_add(&mutex, 1) == 0) {
// don't bother doing the baud change if it is actually the same
// might drop less data
if (previous_baud != baud) {
previous_baud = baud;
// Set Revo port hwsettings_baud
PIOS_COM_ChangeBaud(PIOS_COM_GPS, hwsettings_gpsspeed_enum_to_baud(baud));
GPSPositionSensorBaudRateSet(&baud);
}
}
--mutex;
}
// 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);
}
/**
* HwSettings callback
* Generally speaking, set the FC baud rate
* and for UBX, if it is safe, start the auto config process
* this allows the user to change the baud rate and see if it works without rebooting
*/
// must updateHwSettings() before updateGpsSettings() so baud rate is set before GPS serial code starts running
static void updateHwSettings(UAVObjEvent __attribute__((unused)) *ev)
{
#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 (ev == NULL
|| previousGpsPort != gpsPort
|| gpsSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_DISABLED
|| gpsSettings.DataProtocol != GPSSETTINGS_DATAPROTOCOL_UBX)
#endif /* defined(FULL_UBX_PARSER) */
{
// always set the baud rate
gps_set_fc_baud_from_settings();
#if defined(FULL_UBX_PARSER)
// just for UBX, because it has subtypes UBX(6), UBX7 and UBX8
// changing anything in HwSettings will make it re-verify the sensor type (including auto-baud if not completely disabled)
// for auto baud disabled, the user can just try some baud rates and when the baud rate is correct, the sensor type becomes valid
gps_ubx_reset_sensor_type();
#endif /* defined(FULL_UBX_PARSER) */
}
#if defined(FULL_UBX_PARSER)
else {
// 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 /* defined(FULL_UBX_PARSER) */
}
#if defined(ANY_FULL_GPS_PARSER)
previousGpsPort = gpsPort;
#endif
}
#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);
#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 the other protocol to UBX or disabled to enabled, that it will start normally
newconfig.UbxAutoConfig = gpsSettings.UbxAutoConfig;
newconfig.AssistNowAutonomous = gpsSettings.UbxAssistNowAutonomous;
newconfig.navRate = gpsSettings.UbxRate;
newconfig.dynamicModel = gpsSettings.UbxDynamicModel == GPSSETTINGS_UBXDYNAMICMODEL_PORTABLE ? UBX_DYNMODEL_PORTABLE :
gpsSettings.UbxDynamicModel == GPSSETTINGS_UBXDYNAMICMODEL_STATIONARY ? UBX_DYNMODEL_STATIONARY :
gpsSettings.UbxDynamicModel == GPSSETTINGS_UBXDYNAMICMODEL_PEDESTRIAN ? UBX_DYNMODEL_PEDESTRIAN :
gpsSettings.UbxDynamicModel == GPSSETTINGS_UBXDYNAMICMODEL_AUTOMOTIVE ? UBX_DYNMODEL_AUTOMOTIVE :
gpsSettings.UbxDynamicModel == GPSSETTINGS_UBXDYNAMICMODEL_SEA ? UBX_DYNMODEL_SEA :
gpsSettings.UbxDynamicModel == GPSSETTINGS_UBXDYNAMICMODEL_AIRBORNE1G ? UBX_DYNMODEL_AIRBORNE1G :
gpsSettings.UbxDynamicModel == GPSSETTINGS_UBXDYNAMICMODEL_AIRBORNE2G ? UBX_DYNMODEL_AIRBORNE2G :
gpsSettings.UbxDynamicModel == GPSSETTINGS_UBXDYNAMICMODEL_AIRBORNE4G ? UBX_DYNMODEL_AIRBORNE4G :
UBX_DYNMODEL_AIRBORNE1G;
switch ((GPSSettingsUbxSBASModeOptions)gpsSettings.UbxSBASMode) {
case GPSSETTINGS_UBXSBASMODE_RANGINGCORRECTION:
case GPSSETTINGS_UBXSBASMODE_CORRECTION:
case GPSSETTINGS_UBXSBASMODE_RANGINGCORRECTIONINTEGRITY:
case GPSSETTINGS_UBXSBASMODE_CORRECTIONINTEGRITY:
newconfig.SBASCorrection = true;
break;
default:
newconfig.SBASCorrection = false;
}
switch ((GPSSettingsUbxSBASModeOptions)gpsSettings.UbxSBASMode) {
case GPSSETTINGS_UBXSBASMODE_RANGING:
case GPSSETTINGS_UBXSBASMODE_RANGINGCORRECTION:
case GPSSETTINGS_UBXSBASMODE_RANGINGINTEGRITY:
case GPSSETTINGS_UBXSBASMODE_RANGINGCORRECTIONINTEGRITY:
newconfig.SBASRanging = true;
break;
default:
newconfig.SBASRanging = false;
}
switch ((GPSSettingsUbxSBASModeOptions)gpsSettings.UbxSBASMode) {
case GPSSETTINGS_UBXSBASMODE_INTEGRITY:
case GPSSETTINGS_UBXSBASMODE_RANGINGINTEGRITY:
case GPSSETTINGS_UBXSBASMODE_RANGINGCORRECTIONINTEGRITY:
case GPSSETTINGS_UBXSBASMODE_CORRECTIONINTEGRITY:
newconfig.SBASIntegrity = true;
break;
default:
newconfig.SBASIntegrity = false;
}
newconfig.SBASChannelsUsed = gpsSettings.UbxSBASChannelsUsed;
newconfig.SBASSats = gpsSettings.UbxSBASSats == GPSSETTINGS_UBXSBASSATS_WAAS ? UBX_SBAS_SATS_WAAS :
gpsSettings.UbxSBASSats == GPSSETTINGS_UBXSBASSATS_EGNOS ? UBX_SBAS_SATS_EGNOS :
gpsSettings.UbxSBASSats == GPSSETTINGS_UBXSBASSATS_MSAS ? UBX_SBAS_SATS_MSAS :
gpsSettings.UbxSBASSats == GPSSETTINGS_UBXSBASSATS_GAGAN ? UBX_SBAS_SATS_GAGAN :
gpsSettings.UbxSBASSats == GPSSETTINGS_UBXSBASSATS_SDCM ? UBX_SBAS_SATS_SDCM : UBX_SBAS_SATS_AUTOSCAN;
switch (gpsSettings.UbxGNSSMode) {
case GPSSETTINGS_UBXGNSSMODE_GPSGLONASS:
newconfig.enableGPS = true;
newconfig.enableGLONASS = true;
newconfig.enableBeiDou = false;
newconfig.enableGalileo = false;
break;
case GPSSETTINGS_UBXGNSSMODE_GLONASS:
newconfig.enableGPS = false;
newconfig.enableGLONASS = true;
newconfig.enableBeiDou = false;
newconfig.enableGalileo = false;
break;
case GPSSETTINGS_UBXGNSSMODE_GPS:
newconfig.enableGPS = true;
newconfig.enableGLONASS = false;
newconfig.enableBeiDou = false;
newconfig.enableGalileo = false;
break;
case GPSSETTINGS_UBXGNSSMODE_GPSBEIDOU:
newconfig.enableGPS = true;
newconfig.enableGLONASS = false;
newconfig.enableBeiDou = true;
newconfig.enableGalileo = false;
break;
case GPSSETTINGS_UBXGNSSMODE_GLONASSBEIDOU:
newconfig.enableGPS = false;
newconfig.enableGLONASS = true;
newconfig.enableBeiDou = true;
newconfig.enableGalileo = false;
break;
case GPSSETTINGS_UBXGNSSMODE_GPSGALILEO:
newconfig.enableGPS = true;
newconfig.enableGLONASS = false;
newconfig.enableBeiDou = false;
newconfig.enableGalileo = true;
break;
case GPSSETTINGS_UBXGNSSMODE_GPSGLONASSGALILEO:
newconfig.enableGPS = true;
newconfig.enableGLONASS = true;
newconfig.enableBeiDou = false;
newconfig.enableGalileo = true;
break;
default:
newconfig.enableGPS = false;
newconfig.enableGLONASS = false;
newconfig.enableBeiDou = false;
newconfig.enableGalileo = false;
break;
}
// 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 /* defined(ANY_FULL_GPS_PARSER) */
/**
* @}
* @}
*/
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