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Merge pull request #195 from PX4/gps

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GPS driver rewrite
This commit is contained in:
Lorenz Meier
2013-02-15 13:46:03 -08:00
parent 5b8ad11498 df6cf142e7
commit 781845587c
17 changed files with 2415 additions and 72 deletions
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apps/mavlink/mavlink.c
+8 -2
View File
@@ -625,7 +625,9 @@ int mavlink_thread_main(int argc, char *argv[])
/* 20 Hz / 50 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 10);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 50);
/* 2 Hz */
/* 10 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 100);
/* 10 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 100);
} else if (baudrate >= 115200) {
@@ -634,8 +636,10 @@ int mavlink_thread_main(int argc, char *argv[])
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 50);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 50);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 50);
/* 5 Hz / 100 ms */
/* 5 Hz / 200 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 200);
/* 5 Hz / 200 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 200);
/* 2 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500);
@@ -651,6 +655,8 @@ int mavlink_thread_main(int argc, char *argv[])
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 500);
/* 2 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500);
/* 2 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 500);
} else {
/* very low baud rate, limit to 1 Hz / 1000 ms */
apps/mavlink/mavlink_receiver.c
+12 -12
View File
@@ -387,22 +387,22 @@ handle_message(mavlink_message_t *msg)
static uint64_t old_timestamp = 0;
/* gps */
hil_gps.timestamp = gps.time_usec;
hil_gps.counter = hil_counter++;
hil_gps.timestamp_position = gps.time_usec;
// hil_gps.counter = hil_counter++;
hil_gps.time_gps_usec = gps.time_usec;
hil_gps.lat = gps.lat;
hil_gps.lon = gps.lon;
hil_gps.alt = gps.alt;
hil_gps.counter_pos_valid = hil_counter++;
hil_gps.eph = gps.eph;
hil_gps.epv = gps.epv;
hil_gps.s_variance = 100;
hil_gps.p_variance = 100;
hil_gps.vel = gps.vel;
hil_gps.vel_n = gps.vel / 100.0f * cosf(gps.cog / M_RAD_TO_DEG_F / 100.0f);
hil_gps.vel_e = gps.vel / 100.0f * sinf(gps.cog / M_RAD_TO_DEG_F / 100.0f);
hil_gps.vel_d = 0.0f;
hil_gps.cog = gps.cog;
// hil_gps.counter_pos_valid = hil_counter++;
hil_gps.eph_m = (float)gps.eph * 1e-2f; // from cm to m
hil_gps.epv_m = (float)gps.epv * 1e-2f; // from cm to m
hil_gps.s_variance_m_s = 100; // XXX 100 m/s variance?
hil_gps.p_variance_m = 100; // XXX 100 m variance?
hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s
hil_gps.vel_n_m_s = (float)gps.vel * 1e-2f * cosf(gps.cog * M_DEG_TO_RAD_F * 1e-2f);
hil_gps.vel_e_m_s = (float)gps.vel * 1e-2f * sinf(gps.cog * M_DEG_TO_RAD_F * 1e-2f);
hil_gps.vel_d_m_s = 0.0f;
hil_gps.cog_rad = gps.cog * M_DEG_TO_RAD_F * 1e-2f; // from deg*100 to rad
hil_gps.fix_type = gps.fix_type;
hil_gps.satellites_visible = gps.satellites_visible;
apps/mavlink/orb_listener.c
+6 -6
View File
@@ -231,15 +231,15 @@ l_vehicle_gps_position(struct listener *l)
/* GPS position */
mavlink_msg_gps_raw_int_send(MAVLINK_COMM_0,
gps.timestamp,
gps.timestamp_position,
gps.fix_type,
gps.lat,
gps.lon,
gps.alt,
gps.eph,
gps.epv,
gps.vel,
gps.cog,
(uint16_t)(gps.eph_m * 1e2f), // from m to cm
(uint16_t)(gps.epv_m * 1e2f), // from m to cm
(uint16_t)(gps.vel_m_s * 1e2f), // from m/s to cm/s
(uint16_t)(gps.cog_rad * M_RAD_TO_DEG_F * 1e2f), // from rad to deg * 100
gps.satellites_visible);
if (gps.satellite_info_available && (gps_counter % 4 == 0)) {
@@ -698,7 +698,7 @@ uorb_receive_start(void)
/* --- GPS VALUE --- */
mavlink_subs.gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
orb_set_interval(mavlink_subs.gps_sub, 1000); /* 1Hz updates */
orb_set_interval(mavlink_subs.gps_sub, 200); /* 5Hz updates */
/* --- HOME POSITION --- */
mavlink_subs.home_sub = orb_subscribe(ORB_ID(home_position));