fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 23:33:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Publish RTCM stream telemetry also for UAVCAN GNSS receivers (#25315)

Browse Source 
* uavcan gnss: publish rtcm instance and injection rate

* GPS drivers minor refactor (#25316)

* GPS drivers: adhere to message name based variable naming convention

* uavcan gnss: use matrix norm calculation

* GPS drivers: rate naming refactor and robust timeout checks

---------

Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
This commit is contained in:
Matthias Grob
2025-07-29 09:55:21 -08:00
committed by GitHub
co-authored by Jacob Dahl
parent b5bf28c204
commit 6cf494dde1
5 changed files with 149 additions and 129 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/gnss/septentrio/septentrio.cpp
+47 -46
View File
@@ -249,7 +249,7 @@ int SeptentrioDriver::print_status()
if (first_gps_uorb_message_created() && _state == State::ReceivingData) {
PX4_INFO("rate RTCM injection: %6.2f Hz", static_cast<double>(rtcm_injection_frequency()));
print_message(ORB_ID(sensor_gps), _message_gps_state);
print_message(ORB_ID(sensor_gps), _sensor_gps);
}
if (_instance == Instance::Main && secondary_instance) {
@@ -1057,8 +1057,8 @@ int SeptentrioDriver::process_message()
DOP dop;
if (_sbf_decoder.parse(&dop) == PX4_OK) {
_message_gps_state.hdop = dop.h_dop * 0.01f;
_message_gps_state.vdop = dop.v_dop * 0.01f;
_sensor_gps.hdop = dop.h_dop * 0.01f;
_sensor_gps.vdop = dop.v_dop * 0.01f;
result = PX4_OK;
}
@@ -1077,71 +1077,71 @@ int SeptentrioDriver::process_message()
if (_sbf_decoder.parse(&header) == PX4_OK && _sbf_decoder.parse(&pvt_geodetic) == PX4_OK) {
switch (static_cast<sbf::PVTGeodetic::ModeType>(pvt_geodetic.mode_type)) {
case ModeType::NoPVT:
_message_gps_state.fix_type = sensor_gps_s::FIX_TYPE_NONE;
_sensor_gps.fix_type = sensor_gps_s::FIX_TYPE_NONE;
break;
case ModeType::PVTWithSBAS:
_message_gps_state.fix_type = sensor_gps_s::FIX_TYPE_RTCM_CODE_DIFFERENTIAL;
_sensor_gps.fix_type = sensor_gps_s::FIX_TYPE_RTCM_CODE_DIFFERENTIAL;
break;
case ModeType::RTKFloat:
case ModeType::MovingBaseRTKFloat:
_message_gps_state.fix_type = sensor_gps_s::FIX_TYPE_RTK_FLOAT;
_sensor_gps.fix_type = sensor_gps_s::FIX_TYPE_RTK_FLOAT;
break;
case ModeType::RTKFixed:
case ModeType::MovingBaseRTKFixed:
_message_gps_state.fix_type = sensor_gps_s::FIX_TYPE_RTK_FIXED;
_sensor_gps.fix_type = sensor_gps_s::FIX_TYPE_RTK_FIXED;
break;
default:
_message_gps_state.fix_type = sensor_gps_s::FIX_TYPE_3D;
_sensor_gps.fix_type = sensor_gps_s::FIX_TYPE_3D;
break;
}
// Check boundaries and invalidate GPS velocities
if (pvt_geodetic.vn <= k_dnu_f4_value || pvt_geodetic.ve <= k_dnu_f4_value || pvt_geodetic.vu <= k_dnu_f4_value) {
_message_gps_state.vel_ned_valid = false;
_sensor_gps.vel_ned_valid = false;
}
if (pvt_geodetic.latitude > k_dnu_f8_value && pvt_geodetic.longitude > k_dnu_f8_value && pvt_geodetic.height > k_dnu_f8_value && pvt_geodetic.undulation > k_dnu_f4_value) {
_message_gps_state.latitude_deg = pvt_geodetic.latitude * M_RAD_TO_DEG;
_message_gps_state.longitude_deg = pvt_geodetic.longitude * M_RAD_TO_DEG;
_message_gps_state.altitude_msl_m = pvt_geodetic.height - static_cast<double>(pvt_geodetic.undulation);
_message_gps_state.altitude_ellipsoid_m = pvt_geodetic.height;
_sensor_gps.latitude_deg = pvt_geodetic.latitude * M_RAD_TO_DEG;
_sensor_gps.longitude_deg = pvt_geodetic.longitude * M_RAD_TO_DEG;
_sensor_gps.altitude_msl_m = pvt_geodetic.height - static_cast<double>(pvt_geodetic.undulation);
_sensor_gps.altitude_ellipsoid_m = pvt_geodetic.height;
} else {
_message_gps_state.fix_type = sensor_gps_s::FIX_TYPE_NONE;
_sensor_gps.fix_type = sensor_gps_s::FIX_TYPE_NONE;
}
if (pvt_geodetic.nr_sv != PVTGeodetic::k_dnu_nr_sv) {
_message_gps_state.satellites_used = pvt_geodetic.nr_sv;
_sensor_gps.satellites_used = pvt_geodetic.nr_sv;
if (_message_satellite_info) {
// Only fill in the satellite count for now (we could use the ChannelStatus message for the
// other data, but it's really large: >800B)
_message_satellite_info->timestamp = hrt_absolute_time();
_message_satellite_info->count = _message_gps_state.satellites_used;
_message_satellite_info->count = _sensor_gps.satellites_used;
}
} else {
_message_gps_state.satellites_used = 0;
_sensor_gps.satellites_used = 0;
}
/* H and V accuracy are reported in 2DRMS, but based off the u-blox reporting we expect RMS.
* Divide by 100 from cm to m and in addition divide by 2 to get RMS. */
_message_gps_state.eph = static_cast<float>(pvt_geodetic.h_accuracy) / 200.0f;
_message_gps_state.epv = static_cast<float>(pvt_geodetic.v_accuracy) / 200.0f;
_sensor_gps.eph = static_cast<float>(pvt_geodetic.h_accuracy) / 200.0f;
_sensor_gps.epv = static_cast<float>(pvt_geodetic.v_accuracy) / 200.0f;
// Check fix and error code
_message_gps_state.vel_ned_valid = _message_gps_state.fix_type > sensor_gps_s::FIX_TYPE_NONE && pvt_geodetic.error == Error::None;
_message_gps_state.vel_n_m_s = pvt_geodetic.vn;
_message_gps_state.vel_e_m_s = pvt_geodetic.ve;
_message_gps_state.vel_d_m_s = -1.0f * pvt_geodetic.vu;
_message_gps_state.vel_m_s = sqrtf(_message_gps_state.vel_n_m_s * _message_gps_state.vel_n_m_s +
_message_gps_state.vel_e_m_s * _message_gps_state.vel_e_m_s);
_sensor_gps.vel_ned_valid = _sensor_gps.fix_type > sensor_gps_s::FIX_TYPE_NONE && pvt_geodetic.error == Error::None;
_sensor_gps.vel_n_m_s = pvt_geodetic.vn;
_sensor_gps.vel_e_m_s = pvt_geodetic.ve;
_sensor_gps.vel_d_m_s = -1.0f * pvt_geodetic.vu;
_sensor_gps.vel_m_s = sqrtf(_sensor_gps.vel_n_m_s * _sensor_gps.vel_n_m_s +
_sensor_gps.vel_e_m_s * _sensor_gps.vel_e_m_s);
if (pvt_geodetic.cog > k_dnu_f4_value) {
_message_gps_state.cog_rad = pvt_geodetic.cog * M_DEG_TO_RAD_F;
_sensor_gps.cog_rad = pvt_geodetic.cog * M_DEG_TO_RAD_F;
}
_message_gps_state.c_variance_rad = M_DEG_TO_RAD_F;
_sensor_gps.c_variance_rad = M_DEG_TO_RAD_F;
_message_gps_state.time_utc_usec = 0;
_sensor_gps.time_utc_usec = 0;
#ifndef __PX4_QURT // NOTE: Functionality isn't available on Snapdragon yet.
if (_time_synced) {
struct tm timeinfo;
@@ -1170,13 +1170,13 @@ int SeptentrioDriver::process_message()
ts.tv_nsec = (header.tow % 1000) * 1000 * 1000;
set_clock(ts);
_message_gps_state.time_utc_usec = static_cast<uint64_t>(epoch) * 1000000ULL;
_message_gps_state.time_utc_usec += (header.tow % 1000) * 1000;
_sensor_gps.time_utc_usec = static_cast<uint64_t>(epoch) * 1000000ULL;
_sensor_gps.time_utc_usec += (header.tow % 1000) * 1000;
}
}
#endif
_message_gps_state.timestamp = hrt_absolute_time();
_sensor_gps.timestamp = hrt_absolute_time();
result = PX4_OK;
}
@@ -1189,7 +1189,7 @@ int SeptentrioDriver::process_message()
ReceiverStatus receiver_status;
if (_sbf_decoder.parse(&receiver_status) == PX4_OK) {
_message_gps_state.rtcm_msg_used = receiver_status.rx_state_diff_corr_in ? sensor_gps_s::RTCM_MSG_USED_USED : sensor_gps_s::RTCM_MSG_USED_NOT_USED;
_sensor_gps.rtcm_msg_used = receiver_status.rx_state_diff_corr_in ? sensor_gps_s::RTCM_MSG_USED_USED : sensor_gps_s::RTCM_MSG_USED_NOT_USED;
_time_synced = receiver_status.rx_state_wn_set && receiver_status.rx_state_tow_set;
}
@@ -1222,7 +1222,7 @@ int SeptentrioDriver::process_message()
if (_sbf_decoder.parse(&vel_cov_geodetic) == PX4_OK) {
if (vel_cov_geodetic.cov_ve_ve > k_dnu_f4_value && vel_cov_geodetic.cov_vn_vn > k_dnu_f4_value && vel_cov_geodetic.cov_vu_vu > k_dnu_f4_value) {
_message_gps_state.s_variance_m_s = math::max(math::max(vel_cov_geodetic.cov_ve_ve, vel_cov_geodetic.cov_vn_vn), vel_cov_geodetic.cov_vu_vu);
_sensor_gps.s_variance_m_s = math::max(math::max(vel_cov_geodetic.cov_ve_ve, vel_cov_geodetic.cov_vn_vn), vel_cov_geodetic.cov_vu_vu);
}
}
@@ -1252,7 +1252,7 @@ int SeptentrioDriver::process_message()
heading -= 2.f * M_PI_F;
}
_message_gps_state.heading = heading;
_sensor_gps.heading = heading;
}
break;
@@ -1270,7 +1270,7 @@ int SeptentrioDriver::process_message()
static_cast<AttCovEuler::Error>(att_cov_euler.error_aux1) == Error::None &&
static_cast<AttCovEuler::Error>(att_cov_euler.error_aux2) == Error::None &&
att_cov_euler.cov_headhead > k_dnu_f4_value) {
_message_gps_state.heading_accuracy = att_cov_euler.cov_headhead * M_PI_F / 180.0f; // Convert range of degrees to range of radians in [0, 2PI]
_sensor_gps.heading_accuracy = att_cov_euler.cov_headhead * M_PI_F / 180.0f; // Convert range of degrees to range of radians in [0, 2PI]
}
break;
@@ -1475,15 +1475,16 @@ void SeptentrioDriver::handle_inject_data_topic()
bool already_copied = false;
gps_inject_data_s msg;
// If there has not been a valid RTCM message for a while, try to switch to a different RTCM link
if ((hrt_absolute_time() - _last_rtcm_injection_time) > 5_s) {
const hrt_abstime now = hrt_absolute_time();
// If there has not been a valid RTCM message for a while, try to switch to a different RTCM link
if (now > _last_rtcm_injection_time + 5_s) {
for (int instance = 0; instance < _gps_inject_data_sub.size(); instance++) {
const bool exists = _gps_inject_data_sub[instance].advertised();
if (exists) {
if (_gps_inject_data_sub[instance].copy(&msg)) {
if ((hrt_absolute_time() - msg.timestamp) < 5_s) {
if (now < msg.timestamp + 5_s) {
// Remember that we already did a copy on this instance.
already_copied = true;
_selected_rtcm_instance = instance;
@@ -1528,10 +1529,10 @@ void SeptentrioDriver::handle_inject_data_topic()
void SeptentrioDriver::publish()
{
_message_gps_state.device_id = get_device_id();
_message_gps_state.selected_rtcm_instance = _selected_rtcm_instance;
_message_gps_state.rtcm_injection_rate = rtcm_injection_frequency();
_sensor_gps_pub.publish(_message_gps_state);
_sensor_gps.device_id = get_device_id();
_sensor_gps.selected_rtcm_instance = _selected_rtcm_instance;
_sensor_gps.rtcm_injection_rate = rtcm_injection_frequency();
_sensor_gps_pub.publish(_sensor_gps);
}
void SeptentrioDriver::publish_satellite_info()
@@ -1543,7 +1544,7 @@ void SeptentrioDriver::publish_satellite_info()
bool SeptentrioDriver::first_gps_uorb_message_created() const
{
return _message_gps_state.timestamp != 0;
return _sensor_gps.timestamp != 0;
}
void SeptentrioDriver::publish_rtcm_corrections(uint8_t *data, size_t len)
@@ -1696,9 +1697,9 @@ bool SeptentrioDriver::is_healthy() const
void SeptentrioDriver::reset_gps_state_message()
{
memset(&_message_gps_state, 0, sizeof(_message_gps_state));
_message_gps_state.heading = NAN;
_message_gps_state.heading_offset = matrix::wrap_pi(math::radians(_heading_offset));
memset(&_sensor_gps, 0, sizeof(_sensor_gps));
_sensor_gps.heading = NAN;
_sensor_gps.heading_offset = matrix::wrap_pi(math::radians(_heading_offset));
}
uint32_t SeptentrioDriver::get_parameter(const char *name, int32_t *value)
src/drivers/gnss/septentrio/septentrio.h
+1 -1
View File
@@ -737,7 +737,7 @@ private:
rtcm::Decoder *_rtcm_decoder {nullptr}; ///< RTCM message decoder
// uORB topics and subscriptions
sensor_gps_s _message_gps_state {}; ///< uORB topic for position
sensor_gps_s _sensor_gps{}; ///< uORB topic for position
gps_dump_s *_message_data_to_receiver {nullptr}; ///< uORB topic for dumping data to the receiver
gps_dump_s *_message_data_from_receiver {nullptr}; ///< uORB topic for dumping data from the receiver
satellite_info_s *_message_satellite_info {nullptr}; ///< uORB topic for satellite info