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551 lines
19 KiB
C
551 lines
19 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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#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();
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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 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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uint8_t gpsProtocol;
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#ifdef MODULE_GPS_BUILTIN
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gpsEnabled = true;
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#else
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HwSettingsInitialize();
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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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updateHwSettings();
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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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updateHwSettings();
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}
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#endif /* if defined(REVOLUTION) */
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if (gpsPort && gpsEnabled) {
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GPSSettingsInitialize();
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GPSSettingsDataProtocolGet(&gpsProtocol);
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switch (gpsProtocol) {
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#if defined(PIOS_INCLUDE_GPS_NMEA_PARSER)
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case GPSSETTINGS_DATAPROTOCOL_NMEA:
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gps_rx_buffer = pios_malloc(NMEA_MAX_PACKET_LENGTH);
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break;
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#endif
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case GPSSETTINGS_DATAPROTOCOL_UBX:
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gps_rx_buffer = pios_malloc(sizeof(struct UBXPacket));
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break;
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default:
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gps_rx_buffer = NULL;
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}
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PIOS_Assert(gps_rx_buffer);
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#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
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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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GPSSettingsData gpsSettings;
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GPSSettingsGet(&gpsSettings);
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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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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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uint8_t status;
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GPSPositionSensorStatusGet(&status);
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ubx_autoconfig_run(&buffer, &count, status != GPSPOSITIONSENSOR_STATUS_NOGPS);
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// Something to send?
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if (count) {
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PIOS_COM_SendBuffer(gpsPort, (uint8_t *)buffer, count);
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}
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}
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#endif
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// This blocks the task until there is something on the buffer
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uint16_t cnt;
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while ((cnt = PIOS_COM_ReceiveBuffer(gpsPort, c, GPS_READ_BUFFER, xDelay)) > 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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{
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#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
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int32_t ac_status = ubx_autoconfig_get_status();
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static uint8_t lastStatus = 0;
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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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res = parse_ubx_stream(c, cnt, gps_rx_buffer, &gpspositionsensor, &gpsRxStats);
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}
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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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static void updateHwSettings()
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{
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if (gpsPort) {
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// Retrieve settings
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uint8_t speed;
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HwSettingsGPSSpeedGet(&speed);
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// Set 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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}
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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)
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{
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load_mag_settings();
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}
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void updateGpsSettings(__attribute__((unused)) UAVObjEvent *ev)
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{
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uint8_t ubxAutoConfig;
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uint8_t ubxDynamicModel;
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uint8_t ubxSbasMode;
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ubx_autoconfig_settings_t newconfig;
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uint8_t ubxSbasSats;
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|
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GPSSettingsUbxRateGet(&newconfig.navRate);
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GPSSettingsUbxAutoConfigGet(&ubxAutoConfig);
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newconfig.autoconfigEnabled = ubxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_DISABLED ? false : true;
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newconfig.storeSettings = ubxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_CONFIGUREANDSTORE;
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|
|
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GPSSettingsUbxDynamicModelGet(&ubxDynamicModel);
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newconfig.dynamicModel = ubxDynamicModel == GPSSETTINGS_UBXDYNAMICMODEL_PORTABLE ? UBX_DYNMODEL_PORTABLE :
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ubxDynamicModel == GPSSETTINGS_UBXDYNAMICMODEL_STATIONARY ? UBX_DYNMODEL_STATIONARY :
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ubxDynamicModel == GPSSETTINGS_UBXDYNAMICMODEL_PEDESTRIAN ? UBX_DYNMODEL_PEDESTRIAN :
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ubxDynamicModel == GPSSETTINGS_UBXDYNAMICMODEL_AUTOMOTIVE ? UBX_DYNMODEL_AUTOMOTIVE :
|
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ubxDynamicModel == GPSSETTINGS_UBXDYNAMICMODEL_SEA ? UBX_DYNMODEL_SEA :
|
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ubxDynamicModel == GPSSETTINGS_UBXDYNAMICMODEL_AIRBORNE1G ? UBX_DYNMODEL_AIRBORNE1G :
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|
ubxDynamicModel == GPSSETTINGS_UBXDYNAMICMODEL_AIRBORNE2G ? UBX_DYNMODEL_AIRBORNE2G :
|
|
ubxDynamicModel == GPSSETTINGS_UBXDYNAMICMODEL_AIRBORNE4G ? UBX_DYNMODEL_AIRBORNE4G :
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|
UBX_DYNMODEL_AIRBORNE1G;
|
|
|
|
GPSSettingsUbxSBASModeGet(&ubxSbasMode);
|
|
switch ((GPSSettingsUbxSBASModeOptions)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)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)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;
|
|
}
|
|
|
|
GPSSettingsUbxSBASChannelsUsedGet(&newconfig.SBASChannelsUsed);
|
|
|
|
GPSSettingsUbxSBASSatsGet(&ubxSbasSats);
|
|
|
|
newconfig.SBASSats = ubxSbasSats == GPSSETTINGS_UBXSBASSATS_WAAS ? UBX_SBAS_SATS_WAAS :
|
|
ubxSbasSats == GPSSETTINGS_UBXSBASSATS_EGNOS ? UBX_SBAS_SATS_EGNOS :
|
|
ubxSbasSats == GPSSETTINGS_UBXSBASSATS_MSAS ? UBX_SBAS_SATS_MSAS :
|
|
ubxSbasSats == GPSSETTINGS_UBXSBASSATS_GAGAN ? UBX_SBAS_SATS_GAGAN :
|
|
ubxSbasSats == GPSSETTINGS_UBXSBASSATS_SDCM ? UBX_SBAS_SATS_SDCM : UBX_SBAS_SATS_AUTOSCAN;
|
|
|
|
ubx_autoconfig_set(newconfig);
|
|
}
|
|
#endif /* if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL) */
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|