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688 lines
28 KiB
C
688 lines
28 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup GSPModule GPS Module
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* @brief Process GPS information
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* @{
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*
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* @file GPS.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief GPS module, handles GPS and NMEA stream
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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// ****************
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#include <openpilot.h>
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#include "gpspositionsensor.h"
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#include "homelocation.h"
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#include "gpstime.h"
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#include "gpssatellites.h"
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#include "gpsvelocitysensor.h"
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#include "gpssettings.h"
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#include "taskinfo.h"
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#include "hwsettings.h"
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#include "auxmagsensor.h"
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#include "WorldMagModel.h"
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#include "CoordinateConversions.h"
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#include <pios_com.h>
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#include "GPS.h"
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#include "NMEA.h"
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#include "UBX.h"
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#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
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#include "inc/ubx_autoconfig.h"
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//#include "../../libraries/inc/fifo_buffer.h"
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#endif
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#include <pios_instrumentation_helper.h>
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PERF_DEFINE_COUNTER(counterBytesIn);
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PERF_DEFINE_COUNTER(counterRate);
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PERF_DEFINE_COUNTER(counterParse);
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// ****************
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// Private functions
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static void gpsTask(void *parameters);
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static void updateHwSettings(UAVObjEvent *ev);
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#ifdef PIOS_GPS_SETS_HOMELOCATION
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static void setHomeLocation(GPSPositionSensorData *gpsData);
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static float GravityAccel(float latitude, float longitude, float altitude);
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#endif
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#ifdef PIOS_INCLUDE_GPS_UBX_PARSER
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void AuxMagSettingsUpdatedCb(UAVObjEvent *ev);
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#ifndef PIOS_GPS_MINIMAL
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void updateGpsSettings(UAVObjEvent *ev);
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#endif
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#endif
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// ****************
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// Private constants
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#define GPS_TIMEOUT_MS 500
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// delay from detecting HomeLocation.Set == False before setting new homelocation
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// this prevent that a save with homelocation.Set = false triggered by gps ends saving
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// the new location with Set = true.
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#define GPS_HOMELOCATION_SET_DELAY 5000
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#define GPS_LOOP_DELAY_MS 6
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#ifdef PIOS_GPS_SETS_HOMELOCATION
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// Unfortunately need a good size stack for the WMM calculation
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#define STACK_SIZE_BYTES 1024
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#else
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#if defined(PIOS_GPS_MINIMAL)
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#define GPS_READ_BUFFER 32
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#ifdef PIOS_INCLUDE_GPS_NMEA_PARSER
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#define STACK_SIZE_BYTES 580 // NMEA
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#else
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#define STACK_SIZE_BYTES 440 // UBX
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#endif // PIOS_INCLUDE_GPS_NMEA_PARSER
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#else
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#define STACK_SIZE_BYTES 650
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#endif // PIOS_GPS_MINIMAL
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#endif // PIOS_GPS_SETS_HOMELOCATION
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#ifndef GPS_READ_BUFFER
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#define GPS_READ_BUFFER 128
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#endif
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#define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
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// ****************
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// Private variables
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static GPSSettingsData gpsSettings;
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static uint32_t gpsPort;
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static bool gpsEnabled = false;
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static xTaskHandle gpsTaskHandle;
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static char *gps_rx_buffer;
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static uint32_t timeOfLastCommandMs;
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static uint32_t timeOfLastUpdateMs;
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#if defined(PIOS_INCLUDE_GPS_NMEA_PARSER) || defined(PIOS_INCLUDE_GPS_UBX_PARSER)
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static struct GPS_RX_STATS gpsRxStats;
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#endif
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// ****************
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/**
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* Initialise the gps module
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* \return -1 if initialisation failed
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* \return 0 on success
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*/
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int32_t GPSStart(void)
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{
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if (gpsEnabled) {
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if (gpsPort) {
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// Start gps task
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xTaskCreate(gpsTask, "GPS", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &gpsTaskHandle);
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PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_GPS, gpsTaskHandle);
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return 0;
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}
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}
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return -1;
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}
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/**
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* Initialise the gps module
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* \return -1 if initialisation failed
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* \return 0 on success
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*/
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int32_t GPSInitialize(void)
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{
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gpsPort = PIOS_COM_GPS;
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HwSettingsInitialize();
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#ifdef MODULE_GPS_BUILTIN
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gpsEnabled = true;
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#else
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HwSettingsOptionalModulesData optionalModules;
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HwSettingsOptionalModulesGet(&optionalModules);
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if (optionalModules.GPS == HWSETTINGS_OPTIONALMODULES_ENABLED) {
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gpsEnabled = true;
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} else {
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gpsEnabled = false;
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}
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#endif
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#if defined(REVOLUTION)
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// These objects MUST be initialized for Revolution
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// because the rest of the system expects to just
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// attach to their queues
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GPSPositionSensorInitialize();
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GPSVelocitySensorInitialize();
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GPSTimeInitialize();
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GPSSatellitesInitialize();
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HomeLocationInitialize();
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#ifdef PIOS_INCLUDE_GPS_UBX_PARSER
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AuxMagSensorInitialize();
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AuxMagSettingsInitialize();
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GPSExtendedStatusInitialize();
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// Initialize mag parameters
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AuxMagSettingsUpdatedCb(NULL);
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AuxMagSettingsConnectCallback(AuxMagSettingsUpdatedCb);
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#endif
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GPSSettingsInitialize();
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// updateHwSettings() uses gpsSettings
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GPSSettingsGet(&gpsSettings);
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// must updateHwSettings() before updateGpsSettings() so baud rate is set before GPS serial code starts running
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updateHwSettings(0);
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#else
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if (gpsPort && gpsEnabled) {
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GPSPositionSensorInitialize();
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GPSVelocitySensorInitialize();
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#if !defined(PIOS_GPS_MINIMAL)
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GPSTimeInitialize();
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GPSSatellitesInitialize();
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#endif
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#if defined(PIOS_GPS_SETS_HOMELOCATION)
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HomeLocationInitialize();
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#endif
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GPSSettingsInitialize();
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// updateHwSettings() uses gpsSettings
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GPSSettingsGet(&gpsSettings);
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// must updateHwSettings() before updateGpsSettings() so baud rate is set before GPS serial code starts running
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updateHwSettings(0);
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}
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#endif /* if defined(REVOLUTION) */
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if (gpsPort && gpsEnabled) {
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#if defined(PIOS_INCLUDE_GPS_NMEA_PARSER) && defined(PIOS_INCLUDE_GPS_UBX_PARSER)
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gps_rx_buffer = pios_malloc((sizeof(struct UBXPacket) > NMEA_MAX_PACKET_LENGTH) ? sizeof(struct UBXPacket) : NMEA_MAX_PACKET_LENGTH);
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#elif defined(PIOS_INCLUDE_GPS_UBX_PARSER)
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gps_rx_buffer = pios_malloc(sizeof(struct UBXPacket));
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#elif defined(PIOS_INCLUDE_GPS_NMEA_PARSER)
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gps_rx_buffer = pios_malloc(NMEA_MAX_PACKET_LENGTH);
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#else
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gps_rx_buffer = NULL;
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#endif
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#if defined(PIOS_INCLUDE_GPS_NMEA_PARSER) || defined(PIOS_INCLUDE_GPS_UBX_PARSER)
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PIOS_Assert(gps_rx_buffer);
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#endif
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#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
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HwSettingsConnectCallback(updateHwSettings); // allow changing baud rate even after startup
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GPSSettingsConnectCallback(updateGpsSettings);
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#endif
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return 0;
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}
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return -1;
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}
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MODULE_INITCALL(GPSInitialize, GPSStart);
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// ****************
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/**
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* Main gps task. It does not return.
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*/
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static void gpsTask(__attribute__((unused)) void *parameters)
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{
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portTickType xDelay = 100 / portTICK_RATE_MS;
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uint32_t timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
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#ifdef PIOS_GPS_SETS_HOMELOCATION
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portTickType homelocationSetDelay = 0;
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#endif
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GPSPositionSensorData gpspositionsensor;
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timeOfLastUpdateMs = timeNowMs;
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timeOfLastCommandMs = timeNowMs;
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GPSPositionSensorGet(&gpspositionsensor);
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#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
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// this should be done in the task because it calls out to actually start the GPS serial reads
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updateGpsSettings(0);
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#endif
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TickType_t xLastWakeTime;
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xLastWakeTime = xTaskGetTickCount();
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PERF_INIT_COUNTER(counterBytesIn, 0x97510001);
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PERF_INIT_COUNTER(counterRate, 0x97510002);
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PERF_INIT_COUNTER(counterParse, 0x97510003);
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uint8_t c[GPS_READ_BUFFER];
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// Loop forever
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while (1) {
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#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
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if (gpsSettings.DataProtocol == GPSSETTINGS_DATAPROTOCOL_UBX) {
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char *buffer = 0;
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uint16_t count = 0;
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ubx_autoconfig_run(&buffer, &count);
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// Something to send?
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if (count) {
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// clear ack/nak
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ubxLastAck.clsID = 0x00;
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ubxLastAck.msgID = 0x00;
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ubxLastNak.clsID = 0x00;
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ubxLastNak.msgID = 0x00;
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PIOS_COM_SendBuffer(gpsPort, (uint8_t *)buffer, count);
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}
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}
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// need to do this whether there is received data or not, or the status (e.g. gcs) is not always correct
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int32_t ac_status = ubx_autoconfig_get_status();
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static uint8_t lastStatus = GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_DISABLED
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+ GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_RUNNING
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+ GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_DONE
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+ GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_ERROR;
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gpspositionsensor.AutoConfigStatus =
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ac_status == UBX_AUTOCONFIG_STATUS_DISABLED ? GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_DISABLED :
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ac_status == UBX_AUTOCONFIG_STATUS_DONE ? GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_DONE :
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ac_status == UBX_AUTOCONFIG_STATUS_ERROR ? GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_ERROR :
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GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_RUNNING;
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if (gpspositionsensor.AutoConfigStatus != lastStatus) {
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GPSPositionSensorAutoConfigStatusSet(&gpspositionsensor.AutoConfigStatus);
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lastStatus = gpspositionsensor.AutoConfigStatus;
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}
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#endif
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// This blocks the task until there is something on the buffer (or 100ms? passes)
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uint16_t cnt;
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cnt = PIOS_COM_ReceiveBuffer(gpsPort, c, GPS_READ_BUFFER, xDelay);
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if (cnt > 0) {
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PERF_TIMED_SECTION_START(counterParse);
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PERF_TRACK_VALUE(counterBytesIn, cnt);
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PERF_MEASURE_PERIOD(counterRate);
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int res;
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switch (gpsSettings.DataProtocol) {
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#if defined(PIOS_INCLUDE_GPS_NMEA_PARSER)
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case GPSSETTINGS_DATAPROTOCOL_NMEA:
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res = parse_nmea_stream(c, cnt, gps_rx_buffer, &gpspositionsensor, &gpsRxStats);
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break;
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#endif
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#if defined(PIOS_INCLUDE_GPS_UBX_PARSER)
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case GPSSETTINGS_DATAPROTOCOL_UBX:
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res = parse_ubx_stream(c, cnt, gps_rx_buffer, &gpspositionsensor, &gpsRxStats);
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break;
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#endif
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default:
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res = NO_PARSER; // this should not happen
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break;
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}
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PERF_TIMED_SECTION_END(counterParse);
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if (res == PARSER_COMPLETE) {
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timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
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timeOfLastUpdateMs = timeNowMs;
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timeOfLastCommandMs = timeNowMs;
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}
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}
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// Check for GPS timeout
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timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
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if ((timeNowMs - timeOfLastUpdateMs) >= GPS_TIMEOUT_MS ||
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(gpsSettings.DataProtocol == GPSSETTINGS_DATAPROTOCOL_UBX && gpspositionsensor.AutoConfigStatus == GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_ERROR)) {
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// we have not received any valid GPS sentences for a while.
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// either the GPS is not plugged in or a hardware problem or the GPS has locked up.
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uint8_t status = GPSPOSITIONSENSOR_STATUS_NOGPS;
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GPSPositionSensorStatusSet(&status);
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AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_ERROR);
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} else {
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// we appear to be receiving GPS sentences OK, we've had an update
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// criteria for GPS-OK taken from this post...
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// http://forums.openpilot.org/topic/1523-professors-insgps-in-svn/page__view__findpost__p__5220
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if ((gpspositionsensor.PDOP < gpsSettings.MaxPDOP) && (gpspositionsensor.Satellites >= gpsSettings.MinSatellites) &&
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(gpspositionsensor.Status == GPSPOSITIONSENSOR_STATUS_FIX3D) &&
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(gpspositionsensor.Latitude != 0 || gpspositionsensor.Longitude != 0)) {
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AlarmsClear(SYSTEMALARMS_ALARM_GPS);
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#ifdef PIOS_GPS_SETS_HOMELOCATION
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HomeLocationData home;
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HomeLocationGet(&home);
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if (home.Set == HOMELOCATION_SET_FALSE) {
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if (homelocationSetDelay == 0) {
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homelocationSetDelay = xTaskGetTickCount();
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}
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if (xTaskGetTickCount() - homelocationSetDelay > GPS_HOMELOCATION_SET_DELAY) {
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setHomeLocation(&gpspositionsensor);
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homelocationSetDelay = 0;
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}
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} else {
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homelocationSetDelay = 0;
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}
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#endif
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} else if ((gpspositionsensor.Status == GPSPOSITIONSENSOR_STATUS_FIX3D) &&
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(gpspositionsensor.Latitude != 0 || gpspositionsensor.Longitude != 0)) {
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AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_WARNING);
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} else {
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AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_CRITICAL);
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}
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}
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vTaskDelayUntil(&xLastWakeTime, GPS_LOOP_DELAY_MS / portTICK_RATE_MS);
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}
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}
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#ifdef PIOS_GPS_SETS_HOMELOCATION
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/*
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* Estimate the acceleration due to gravity for a particular location in LLA
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*/
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static float GravityAccel(float latitude, __attribute__((unused)) float longitude, float altitude)
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{
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/* WGS84 gravity model. The effect of gravity over latitude is strong
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* enough to change the estimated accelerometer bias in those apps. */
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float sinsq = sinf(latitude);
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sinsq *= sinsq;
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/* Likewise, over the altitude range of a high-altitude balloon, the effect
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* due to change in altitude can also affect the model. */
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return 9.7803267714f * (1.0f + 0.00193185138639f * sinsq) / sqrtf(1.0f - 0.00669437999013f * sinsq)
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- 3.086e-6f * altitude;
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}
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// ****************
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static void setHomeLocation(GPSPositionSensorData *gpsData)
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{
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HomeLocationData home;
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HomeLocationGet(&home);
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GPSTimeData gps;
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GPSTimeGet(&gps);
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if (gps.Year >= 2000) {
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/* Store LLA */
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home.Latitude = gpsData->Latitude;
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home.Longitude = gpsData->Longitude;
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home.Altitude = gpsData->Altitude + gpsData->GeoidSeparation;
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/* Compute home ECEF coordinates and the rotation matrix into NED
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* Note that floats are used here - they should give enough precision
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* for this application.*/
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float LLA[3] = { (home.Latitude) / 10e6f, (home.Longitude) / 10e6f, (home.Altitude) };
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/* Compute magnetic flux direction at home location */
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if (WMM_GetMagVector(LLA[0], LLA[1], LLA[2], gps.Month, gps.Day, gps.Year, &home.Be[0]) == 0) {
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/*Compute local acceleration due to gravity. Vehicles that span a very large
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* range of altitude (say, weather balloons) may need to update this during the
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* flight. */
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home.g_e = GravityAccel(LLA[0], LLA[1], LLA[2]);
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home.Set = HOMELOCATION_SET_TRUE;
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HomeLocationSet(&home);
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}
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}
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}
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#endif /* ifdef PIOS_GPS_SETS_HOMELOCATION */
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/**
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* Update the GPS settings, called on startup.
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* FIXME: This should be in the GPSSettings object. But objects have
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* too much overhead yet. Also the GPS has no any specific settings
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* like protocol, etc. Thus the HwSettings object which contains the
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* GPS port speed is used for now.
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*/
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// must updateHwSettings() before updateGpsSettings() so baud rate is set before GPS serial code starts running
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static void updateHwSettings(UAVObjEvent __attribute__((unused)) *ev)
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{
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// with these changes, no one (not even OP board makers) should ever need u-center (the complex UBlox configuration program)
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// no booting of Revo should be required during any setup or testing, just Send the settings you want to play with
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// with autoconfig enabled, just change the baud rate in HwSettings and it will change the GPS internal baud and then the Revo port
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// with autoconfig disabled, it will only change the Revo port, so you can try to find the current GPS baud rate if you don't know it
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// GPSPositionSensor.SensorType and .UbxAutoConfigStatus now give correct values at all times, so use .SensorType to prove it is
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// connected, even to an incorrectly configured (e.g. factory default) GPS
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// Use cases:
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// - the user can plug in a default GPS, use autoconfig-store once and then always use autoconfig-disabled
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// - the user can plug in a default GPS that can't store settings (defaults to 9600 baud) and always use autoconfig-nostore
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// - - this is one reason for coding this: cheap eBay GPS's that loose their settings sometimes
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// - the user can plug in a default GPS that _can_ store settings and always use autoconfig-nostore with that too
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// - - if settings change in newer releases of OP, this will make sure to use the correct settings with whatever code you are running
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// - the user can plug in a correctly configured GPS and use autoconfig-disabled
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// - the user can recover an old or incorrectly configured GPS (internal GPS baud rate or other GPS settings wrong)
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// - - disable UBX GPS autoconfig
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// - - set HwSettings GPS baud rate to the current GPS internal baud rate to get it to connect at current (especially non-9600) baud rate
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// - - - you can tell the baud rate is correct when GPSPositionSensor.SensorType is known (not "Unknown") (e.g. UBX6)
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// - - - the SensorType and AutoConfigStatus may fail at 9600 and will fail at 4800 or lower if the GPS is configured to send OP data
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// - - - (way more than default) at 4800 baud or slower
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// - - enable autoconfig-nostore GPSSettings to set correct messages and enable further magic baud rate settings
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// - - change the baud rate to what you want in HwSettings (it will change the baud rate in the GPS and then in the Revo port)
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// - - wait for the baud rate change to complete, GPSPositionSensor.AutoConfigStatus will say "DONE"
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// - - enable autoconfig-store and it will save the new baud rate and the correct message configuration
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// - - wait for the store to complete, GPSPositionSensor.AutoConfigStatus will say "DONE"
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// - - for the new baud rate, the user should either choose 9600 for use with autoconfig-nostore or can choose 57600 for use with autoconfig-disabled
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// - the user (Dave :)) can configure a whole bunch of default GPS's with no intervention by using autoconfig-store as a saved Revo setting
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// - - just plug the default (9600 baud) GPS in to an unpowered Revo, power the Revo/GPS through the servo connector, wait some time, unplug
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// - - or with this code, OP could and even should just ship GPS's with default settings
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// if we add an "initial baud rate" instead of assuming 9600 at boot up for autoconfig-nostore/store
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// - the user can use the same GPS with both an older release of OP (e.g. GPS settings at 38400) and the current release (autoconfig-nostore)
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// - the 57600 could be fixed instead of the 9600 as part of autoconfig-store/nostore and the HwSettings.GPSSpeed be the initial baud rate?
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// About using UBlox GPS's with default settings (9600 baud and NEMA data):
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// - the default uBlox settings (different than OP settings) are NEMA and 9600 baud
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// - - and that is OK and you use autoconfig-nostore
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// - - I personally feel that this is the best way to set it up because if OP dev changes GPS settings,
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// - - you get them automatically changed to match whatever version of OP code you are running
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// - - but 9600 is only OK for this autoconfig startup
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// - by my testing, the 9600 initial to 57600 final baud startup takes:
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// - - 0:10 if the GPS has been configured to send OP data at 9600
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// - - 0:06 if the GPS has default data settings (NEMA) at 9600
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// - - reminder that even 0:10 isn't that bad. You need to wait for the GPS to acquire satellites,
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// Some things you want to think about if you want to play around with this:
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// - don't play with low baud rates, with OP data settings (lots of data) it can take a long time to auto-configure
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// - - at 2400 it could take a long time to autoconfig or error out
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// - - at 9600 or lower the autoconfig is skipped and only the baud rate is changed
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// - if you autoconfigure an OP configuration at 9600 baud or lower
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// - - it will actually make a factory default configuration (not an OP configuration) at that baud rate
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// - remember that there are two baud rates (inside the GPS and the Revo port) and you can get them out of sync
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// - - rebooting the Revo from the Ground Control Station (without powering the GPS down too)
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// - - can leave the baud rates out of sync if you are using autoconfig
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// - - just power off and on both the Revo and the GPS
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// - my OP GPS #2 will NOT save 115200 baud or higher, but it will use all bauds, even 230400
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// - - so you could use autoconfig.nostore with this high baud rate, but not autoconfig.store (once) followed by autoconfig.disabled
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// - - I haven't tested other GPS's in regard to this
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// since 9600 baud and lower are not usable, and are best left at NEMA, I could have coded it to do a factory reset
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// - if set to 9600 baud (or lower)
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if (gpsPort) {
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uint8_t speed;
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#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
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// use 9600 baud during startup if autoconfig is enabled
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// that is the flag that the code should assumes a factory default baud rate
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if (ev == NULL && gpsSettings.UbxAutoConfig != GPSSETTINGS_UBXAUTOCONFIG_DISABLED) {
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speed = HWSETTINGS_GPSSPEED_9600;
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}
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else
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#endif
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{
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// Retrieve settings
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HwSettingsGPSSpeedGet(&speed);
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}
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// must always set the baud here, even if it looks like it is the same
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// e.g. startup sets 9600 here, ubx_autoconfig sets 57600 there, then the user selects a change back to 9600 here
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// on startup (ev == NULL) we must set the Revo port baud rate
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// after startup (ev != NULL) we must set the Revo port baud rate only if autoconfig is disabled
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// always we must set the Revo port baud rate if not using UBX
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#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
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if (ev == NULL || gpsSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_DISABLED || gpsSettings.DataProtocol != GPSSETTINGS_DATAPROTOCOL_UBX)
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#endif
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{
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// Set Revo / Nano port speed
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switch (speed) {
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case HWSETTINGS_GPSSPEED_2400:
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PIOS_COM_ChangeBaud(gpsPort, 2400);
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break;
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case HWSETTINGS_GPSSPEED_4800:
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PIOS_COM_ChangeBaud(gpsPort, 4800);
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break;
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case HWSETTINGS_GPSSPEED_9600:
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PIOS_COM_ChangeBaud(gpsPort, 9600);
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break;
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case HWSETTINGS_GPSSPEED_19200:
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PIOS_COM_ChangeBaud(gpsPort, 19200);
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break;
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case HWSETTINGS_GPSSPEED_38400:
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|
PIOS_COM_ChangeBaud(gpsPort, 38400);
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break;
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case HWSETTINGS_GPSSPEED_57600:
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|
PIOS_COM_ChangeBaud(gpsPort, 57600);
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break;
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case HWSETTINGS_GPSSPEED_115200:
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|
PIOS_COM_ChangeBaud(gpsPort, 115200);
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|
break;
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case HWSETTINGS_GPSSPEED_230400:
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|
PIOS_COM_ChangeBaud(gpsPort, 230400);
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|
break;
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}
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#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
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// even changing the baud rate will make it re-verify the sensor type
|
|
// that way the user can just try some baud rates and it when the sensor type is valid, the baud rate is correct
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|
ubx_reset_sensor_type();
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#endif
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|
}
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|
#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
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else {
|
|
// it will never do this during startup because ev == NULL
|
|
ubx_autoconfig_set(NULL);
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|
}
|
|
#endif
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|
}
|
|
}
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|
|
#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
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|
void AuxMagSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
|
|
{
|
|
load_mag_settings();
|
|
}
|
|
|
|
void updateGpsSettings(__attribute__((unused)) UAVObjEvent *ev)
|
|
{
|
|
ubx_autoconfig_settings_t newconfig;
|
|
|
|
GPSSettingsGet(&gpsSettings);
|
|
|
|
newconfig.navRate = gpsSettings.UbxRate;
|
|
|
|
newconfig.autoconfigEnabled = gpsSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_DISABLED ? false : true;
|
|
newconfig.storeSettings = gpsSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_CONFIGUREANDSTORE;
|
|
|
|
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;
|
|
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) */
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|