From 183a0cdb22fd824d87912ea3d2c2470f0d28ed39 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Fri, 4 Apr 2014 12:33:02 +0400 Subject: [PATCH 01/67] MC: default MC_YAWRATE_I changed for all setups, navigator: increase yaw acceptance to 0.2rad ~ 11deg --- ROMFS/px4fmu_common/init.d/10015_tbs_discovery | 2 +- ROMFS/px4fmu_common/init.d/10016_3dr_iris | 2 +- ROMFS/px4fmu_common/init.d/4008_ardrone | 2 +- ROMFS/px4fmu_common/init.d/4010_dji_f330 | 2 +- ROMFS/px4fmu_common/init.d/4011_dji_f450 | 2 +- ROMFS/px4fmu_common/init.d/rc.mc_defaults | 2 +- src/modules/navigator/navigator_main.cpp | 2 +- 7 files changed, 7 insertions(+), 7 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery index fe85f7d35d..c4be169436 100644 --- a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery +++ b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery @@ -20,7 +20,7 @@ then param set MC_PITCHRATE_D 0.0025 param set MC_YAW_P 2.8 param set MC_YAWRATE_P 0.28 - param set MC_YAWRATE_I 0.0 + param set MC_YAWRATE_I 0.1 param set MC_YAWRATE_D 0.0 fi diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris index f11aa704eb..26bea688a7 100644 --- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris +++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris @@ -20,7 +20,7 @@ then param set MC_PITCHRATE_D 0.004 param set MC_YAW_P 0.5 param set MC_YAWRATE_P 0.2 - param set MC_YAWRATE_I 0.0 + param set MC_YAWRATE_I 0.1 param set MC_YAWRATE_D 0.0 param set BAT_V_SCALING 0.00989 diff --git a/ROMFS/px4fmu_common/init.d/4008_ardrone b/ROMFS/px4fmu_common/init.d/4008_ardrone index 14786f2106..0c3cd09dd1 100644 --- a/ROMFS/px4fmu_common/init.d/4008_ardrone +++ b/ROMFS/px4fmu_common/init.d/4008_ardrone @@ -24,7 +24,7 @@ then param set MC_PITCHRATE_D 0.0 param set MC_YAW_P 1.0 param set MC_YAWRATE_P 0.15 - param set MC_YAWRATE_I 0.0 + param set MC_YAWRATE_I 0.05 param set MC_YAWRATE_D 0.0 param set MC_YAW_FF 0.15 param set BAT_V_SCALING 0.00838095238 diff --git a/ROMFS/px4fmu_common/init.d/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/4010_dji_f330 index cd4480c3eb..e6e2e19dc0 100644 --- a/ROMFS/px4fmu_common/init.d/4010_dji_f330 +++ b/ROMFS/px4fmu_common/init.d/4010_dji_f330 @@ -19,7 +19,7 @@ then param set MC_PITCHRATE_D 0.003 param set MC_YAW_P 2.8 param set MC_YAWRATE_P 0.2 - param set MC_YAWRATE_I 0.0 + param set MC_YAWRATE_I 0.1 param set MC_YAWRATE_D 0.0 fi diff --git a/ROMFS/px4fmu_common/init.d/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/4011_dji_f450 index ac2ecc70aa..3465b59cf7 100644 --- a/ROMFS/px4fmu_common/init.d/4011_dji_f450 +++ b/ROMFS/px4fmu_common/init.d/4011_dji_f450 @@ -20,7 +20,7 @@ then param set MC_PITCHRATE_D 0.003 param set MC_YAW_P 2.8 param set MC_YAWRATE_P 0.2 - param set MC_YAWRATE_I 0.0 + param set MC_YAWRATE_I 0.1 param set MC_YAWRATE_D 0.0 fi diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults index 4db62607a9..e96c5b4934 100644 --- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults @@ -14,7 +14,7 @@ then param set MC_PITCHRATE_D 0.003 param set MC_YAW_P 2.8 param set MC_YAWRATE_P 0.2 - param set MC_YAWRATE_I 0.0 + param set MC_YAWRATE_I 0.1 param set MC_YAWRATE_D 0.0 param set MC_YAW_FF 0.5 diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index c45cafc1ba..5a94b66717 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -1539,7 +1539,7 @@ Navigator::check_mission_item_reached() /* check yaw if defined only for rotary wing except takeoff */ float yaw_err = _wrap_pi(_mission_item.yaw - _global_pos.yaw); - if (fabsf(yaw_err) < 0.05f) { /* XXX get rid of magic number */ + if (fabsf(yaw_err) < 0.2f) { /* XXX get rid of magic number */ _waypoint_yaw_reached = true; } From 559c62b6bc4923854e106be5987db92197e0bae1 Mon Sep 17 00:00:00 2001 From: TickTock- Date: Fri, 9 May 2014 15:17:38 -0700 Subject: [PATCH 02/67] Changed low threshold in px4io firmware to 10% to ensure compatibility with user configured single channel, mode switches --- src/modules/px4iofirmware/controls.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index 56c5aa0051..a8c560d404 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -47,8 +47,8 @@ #include "px4io.h" #define RC_FAILSAFE_TIMEOUT 2000000 /**< two seconds failsafe timeout */ -#define RC_CHANNEL_HIGH_THRESH 5000 -#define RC_CHANNEL_LOW_THRESH -5000 +#define RC_CHANNEL_HIGH_THRESH 5000 /* 75% threshold */ +#define RC_CHANNEL_LOW_THRESH -8000 /* 10% threshold */ static bool ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len); From e92620b9b2d130c5ea3e9fabb91a9e74cba4f710 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Tue, 20 May 2014 23:15:58 +0200 Subject: [PATCH 03/67] rc_channels topic cleanup --- src/modules/mavlink/mavlink_messages.cpp | 1 - src/modules/sdlog2/sdlog2.c | 4 +- src/modules/sensors/sensors.cpp | 26 ++++----- src/modules/uORB/topics/rc_channels.h | 68 +++++++++--------------- 4 files changed, 41 insertions(+), 58 deletions(-) diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 933478f560..401faf8a72 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -45,7 +45,6 @@ #include #include -#include #include #include #include diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 70ce768068..b29c0e086e 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -1200,8 +1200,8 @@ int sdlog2_thread_main(int argc, char *argv[]) if (copy_if_updated(ORB_ID(rc_channels), subs.rc_sub, &buf.rc)) { log_msg.msg_type = LOG_RC_MSG; /* Copy only the first 8 channels of 14 */ - memcpy(log_msg.body.log_RC.channel, buf.rc.chan, sizeof(log_msg.body.log_RC.channel)); - log_msg.body.log_RC.channel_count = buf.rc.chan_count; + memcpy(log_msg.body.log_RC.channel, buf.rc.channels, sizeof(log_msg.body.log_RC.channel)); + log_msg.body.log_RC.channel_count = buf.rc.channel_count; log_msg.body.log_RC.signal_lost = buf.rc.signal_lost; LOGBUFFER_WRITE_AND_COUNT(RC); } diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index b268b1b36b..319626d6e1 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1202,9 +1202,9 @@ Sensors::parameter_update_poll(bool forced) } #if 0 - printf("CH0: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[0], (int)_parameters.min[0], (int)(_rc.chan[0].scaling_factor * 10000), (int)(_rc.chan[0].mid), (int)_rc.function[0]); - printf("CH1: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[1], (int)_parameters.min[1], (int)(_rc.chan[1].scaling_factor * 10000), (int)(_rc.chan[1].mid), (int)_rc.function[1]); - printf("MAN: %d %d\n", (int)(_rc.chan[0].scaled * 100), (int)(_rc.chan[1].scaled * 100)); + printf("CH0: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[0], (int)_parameters.min[0], (int)(_rc.channels[0].scaling_factor * 10000), (int)(_rc.channels[0].mid), (int)_rc.function[0]); + printf("CH1: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[1], (int)_parameters.min[1], (int)(_rc.channels[1].scaling_factor * 10000), (int)(_rc.channels[1].mid), (int)_rc.function[1]); + printf("MAN: %d %d\n", (int)(_rc.channels[0] * 100), (int)(_rc.channels[1] * 100)); fflush(stdout); usleep(5000); #endif @@ -1334,7 +1334,7 @@ float Sensors::get_rc_value(enum RC_CHANNELS_FUNCTION func, float min_value, float max_value) { if (_rc.function[func] >= 0) { - float value = _rc.chan[_rc.function[func]].scaled; + float value = _rc.channels[_rc.function[func]]; if (value < min_value) { return min_value; @@ -1355,7 +1355,7 @@ switch_pos_t Sensors::get_rc_sw3pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv, float mid_th, bool mid_inv) { if (_rc.function[func] >= 0) { - float value = 0.5f * _rc.chan[_rc.function[func]].scaled + 0.5f; + float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f; if (on_inv ? value < on_th : value > on_th) { return SWITCH_POS_ON; @@ -1376,7 +1376,7 @@ switch_pos_t Sensors::get_rc_sw2pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv) { if (_rc.function[func] >= 0) { - float value = 0.5f * _rc.chan[_rc.function[func]].scaled + 0.5f; + float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f; if (on_inv ? value < on_th : value > on_th) { return SWITCH_POS_ON; @@ -1468,25 +1468,25 @@ Sensors::rc_poll() * DO NOT REMOVE OR ALTER STEP 1! */ if (rc_input.values[i] > (_parameters.trim[i] + _parameters.dz[i])) { - _rc.chan[i].scaled = (rc_input.values[i] - _parameters.trim[i] - _parameters.dz[i]) / (float)(_parameters.max[i] - _parameters.trim[i] - _parameters.dz[i]); + _rc.channels[i] = (rc_input.values[i] - _parameters.trim[i] - _parameters.dz[i]) / (float)(_parameters.max[i] - _parameters.trim[i] - _parameters.dz[i]); } else if (rc_input.values[i] < (_parameters.trim[i] - _parameters.dz[i])) { - _rc.chan[i].scaled = (rc_input.values[i] - _parameters.trim[i] + _parameters.dz[i]) / (float)(_parameters.trim[i] - _parameters.min[i] - _parameters.dz[i]); + _rc.channels[i] = (rc_input.values[i] - _parameters.trim[i] + _parameters.dz[i]) / (float)(_parameters.trim[i] - _parameters.min[i] - _parameters.dz[i]); } else { /* in the configured dead zone, output zero */ - _rc.chan[i].scaled = 0.0f; + _rc.channels[i] = 0.0f; } - _rc.chan[i].scaled *= _parameters.rev[i]; + _rc.channels[i] *= _parameters.rev[i]; /* handle any parameter-induced blowups */ - if (!isfinite(_rc.chan[i].scaled)) { - _rc.chan[i].scaled = 0.0f; + if (!isfinite(_rc.channels[i])) { + _rc.channels[i] = 0.0f; } } - _rc.chan_count = rc_input.channel_count; + _rc.channel_count = rc_input.channel_count; _rc.rssi = rc_input.rssi; _rc.signal_lost = signal_lost; _rc.timestamp = rc_input.timestamp_last_signal; diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h index 370c544425..829d8e57d7 100644 --- a/src/modules/uORB/topics/rc_channels.h +++ b/src/modules/uORB/topics/rc_channels.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -42,60 +42,44 @@ #include #include "../uORB.h" -/** - * The number of RC channel inputs supported. - * Current (Q4/2013) radios support up to 18 channels, - * leaving at a sane value of 16. - * This number can be greater then number of RC channels, - * because single RC channel can be mapped to multiple - * functions, e.g. for various mode switches. - */ -#define RC_CHANNELS_MAPPED_MAX 16 - /** * This defines the mapping of the RC functions. * The value assigned to the specific function corresponds to the entry of - * the channel array chan[]. + * the channel array channels[]. */ enum RC_CHANNELS_FUNCTION { THROTTLE = 0, - ROLL = 1, - PITCH = 2, - YAW = 3, - MODE = 4, - RETURN = 5, - POSCTL = 6, - LOITER = 7, - OFFBOARD_MODE = 8, - ACRO = 9, - FLAPS = 10, - AUX_1 = 11, - AUX_2 = 12, - AUX_3 = 13, - AUX_4 = 14, - AUX_5 = 15, - RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */ + ROLL, + PITCH, + YAW, + MODE, + RETURN, + POSCTL, + LOITER, + OFFBOARD_MODE, + ACRO, + FLAPS, + AUX_1, + AUX_2, + AUX_3, + AUX_4, + AUX_5, + RC_CHANNELS_FUNCTION_MAX /**< Indicates the number of functions. There can be more functions than RC channels. */ }; /** * @addtogroup topics * @{ */ - struct rc_channels_s { - - uint64_t timestamp; /**< In microseconds since boot time. */ - uint64_t timestamp_last_valid; /**< timestamp of last valid RC signal. */ - struct { - float scaled; /**< Scaled to -1..1 (throttle: 0..1) */ - } chan[RC_CHANNELS_MAPPED_MAX]; - uint8_t chan_count; /**< number of valid channels */ - - /*String array to store the names of the functions*/ - char function_name[RC_CHANNELS_FUNCTION_MAX][20]; - int8_t function[RC_CHANNELS_FUNCTION_MAX]; - uint8_t rssi; /**< Overall receive signal strength */ - bool signal_lost; /**< control signal lost, should be checked together with topic timeout */ + uint64_t timestamp; /**< Timestamp in microseconds since boot time */ + uint64_t timestamp_last_valid; /**< Timestamp of last valid RC signal */ + float channels[RC_CHANNELS_FUNCTION_MAX]; /**< Scaled to -1..1 (throttle: 0..1) */ + uint8_t channel_count; /**< Number of valid channels */ + char function_name[RC_CHANNELS_FUNCTION_MAX][20]; /**< String array to store the names of the functions */ + int8_t function[RC_CHANNELS_FUNCTION_MAX]; /**< Functions mapping */ + uint8_t rssi; /**< Receive signal strength index */ + bool signal_lost; /**< Control signal lost, should be checked together with topic timeout */ }; /**< radio control channels. */ /** From c7bf00562d685b513e1720f558fee5840aca151b Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 25 May 2014 08:22:54 +0200 Subject: [PATCH 04/67] commander: Enforce (in presence of power sensing) that a) system is not purely servo rail powered and b) power rail voltage is higher than 4.5V on the main avionics rail --- src/modules/commander/commander.cpp | 27 +++++++++++++++++++ .../commander/state_machine_helper.cpp | 22 +++++++++++++++ src/modules/uORB/topics/vehicle_status.h | 2 ++ 3 files changed, 51 insertions(+) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 5c0628a166..55c74fdff0 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -76,6 +76,7 @@ #include #include #include +#include #include #include @@ -717,6 +718,9 @@ int commander_thread_main(int argc, char *argv[]) status.counter++; status.timestamp = hrt_absolute_time(); + status.condition_power_input_valid = true; + status.avionics_power_rail_voltage = -1.0f; + /* publish initial state */ status_pub = orb_advertise(ORB_ID(vehicle_status), &status); @@ -853,6 +857,11 @@ int commander_thread_main(int argc, char *argv[]) struct position_setpoint_triplet_s pos_sp_triplet; memset(&pos_sp_triplet, 0, sizeof(pos_sp_triplet)); + /* Subscribe to system power */ + int system_power_sub = orb_subscribe(ORB_ID(system_power)); + struct system_power_s system_power; + memset(&system_power, 0, sizeof(system_power)); + control_status_leds(&status, &armed, true); /* now initialized */ @@ -933,6 +942,24 @@ int commander_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres); } + orb_check(system_power_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(system_power), system_power_sub, &system_power); + + if (hrt_elapsed_time(&system_power.timestamp) < 200000) { + if (system_power.servo_valid && + !system_power.brick_valid && + !system_power.usb_connected) { + /* flying only on servo rail, this is unsafe */ + status.condition_power_input_valid = false; + } else { + status.condition_power_input_valid = true; + status.avionics_power_rail_voltage = system_power.voltage5V_v; + } + } + } + check_valid(diff_pres.timestamp, DIFFPRESS_TIMEOUT, true, &(status.condition_airspeed_valid), &status_changed); /* update safety topic */ diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 87309b238a..818974648e 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -144,6 +144,28 @@ arming_state_transition(struct vehicle_status_s *status, /// current valid_transition = false; } + // Fail transition if power is not good + if (!status->condition_power_input_valid) { + + if (mavlink_fd) { + mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Connect power module."); + } + + valid_transition = false; + } + + // Fail transition if power levels on the avionics rail + // are insufficient + if ((status->avionics_power_rail_voltage > 0.0f) && + (status->avionics_power_rail_voltage < 4.5f)) { + + if (mavlink_fd) { + mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Avionics power low: %6.2f V.", status->avionics_power_rail_voltage); + } + + valid_transition = false; + } + } else if (new_arming_state == ARMING_STATE_STANDBY && status->arming_state == ARMING_STATE_ARMED_ERROR) { new_arming_state = ARMING_STATE_STANDBY_ERROR; } diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index ea20a317a6..2ed0d6ad45 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -179,6 +179,8 @@ struct vehicle_status_s { bool condition_local_altitude_valid; bool condition_airspeed_valid; /**< set to true by the commander app if there is a valid airspeed measurement available */ bool condition_landed; /**< true if vehicle is landed, always true if disarmed */ + bool condition_power_input_valid; /**< set if input power is valid */ + float avionics_power_rail_voltage; /**< voltage of the avionics power rail */ bool rc_signal_found_once; bool rc_signal_lost; /**< true if RC reception lost */ From 032fe389a5630a22c9da4642d79b3fae05a213f5 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 25 May 2014 20:34:11 +0200 Subject: [PATCH 05/67] systemlib: Add circuit breakers --- src/modules/systemlib/circuit_breaker.c | 93 +++++++++++++++++++++++++ src/modules/systemlib/circuit_breaker.h | 55 +++++++++++++++ src/modules/systemlib/module.mk | 5 +- 3 files changed, 151 insertions(+), 2 deletions(-) create mode 100644 src/modules/systemlib/circuit_breaker.c create mode 100644 src/modules/systemlib/circuit_breaker.h diff --git a/src/modules/systemlib/circuit_breaker.c b/src/modules/systemlib/circuit_breaker.c new file mode 100644 index 0000000000..b59531d69b --- /dev/null +++ b/src/modules/systemlib/circuit_breaker.c @@ -0,0 +1,93 @@ +/**************************************************************************** + * + * Copyright (c) 2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * @file circuit_breaker.c + * + * Circuit breaker parameters. + * Analog to real aviation circuit breakers these parameters + * allow to disable subsystems. They are not supported as standard + * operation procedure and are only provided for development purposes. + * To ensure they are not activated accidentally, the associated + * parameter needs to set to the key (magic). + */ + +#include +#include + +/** + * Circuit breaker for power supply check + * + * Setting this parameter to 894281 will disable the power valid + * checks in the commander. + * WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK + * + * @min 0 + * @max 894281 + * @group Circuit Breaker + */ +PARAM_DEFINE_INT32(CBRK_SUPPLY_CHK, 0); + +/** + * Circuit breaker for rate controller output + * + * Setting this parameter to 140253 will disable the rate + * controller uORB publication. + * WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK + * + * @min 0 + * @max 140253 + * @group Circuit Breaker + */ +PARAM_DEFINE_INT32(CBRK_RATE_CTRL, 0); + +/** + * Circuit breaker for IO safety + * + * Setting this parameter to 894281 will disable IO safety. + * WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK + * + * @min 0 + * @max 22027 + * @group Circuit Breaker + */ +PARAM_DEFINE_INT32(CBRK_IO_SAFETY, 0); + +bool circuit_breaker_enabled(const char* breaker, int32_t magic) +{ + int32_t val; + (void)param_get(param_find(breaker), val); + + return (val == magic); +} + diff --git a/src/modules/systemlib/circuit_breaker.h b/src/modules/systemlib/circuit_breaker.h new file mode 100644 index 0000000000..86439e2a58 --- /dev/null +++ b/src/modules/systemlib/circuit_breaker.h @@ -0,0 +1,55 @@ +/**************************************************************************** + * + * Copyright (c) 2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * @file circuit_breaker.h + * + * Circuit breaker functionality. + */ + +#ifndef CIRCUIT_BREAKER_H_ +#define CIRCUIT_BREAKER_H_ + +#define CBRK_SUPPLY_CHK_KEY 894281 +#define CBRK_RATE_CTRL_KEY 140253 +#define CBRK_IO_SAFETY_KEY 22027 + +#include + +__BEGIN_DECLS + +__EXPORT bool circuit_breaker_enabled(const char* breaker, int32_t magic); + +__END_DECLS + +#endif /* CIRCUIT_BREAKER_H_ */ diff --git a/src/modules/systemlib/module.mk b/src/modules/systemlib/module.mk index 3953b757d2..147903aa03 100644 --- a/src/modules/systemlib/module.mk +++ b/src/modules/systemlib/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -52,5 +52,6 @@ SRCS = err.c \ rc_check.c \ otp.c \ board_serial.c \ - pwm_limit/pwm_limit.c + pwm_limit/pwm_limit.c \ + circuit_breaker.c From 064329dd099819b0f0b8a9a7bc0233440fdf6df1 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 25 May 2014 20:34:32 +0200 Subject: [PATCH 06/67] commander: put circuit breaker into effect --- src/modules/commander/commander.cpp | 7 ++++ .../commander/state_machine_helper.cpp | 32 +++++++++++-------- 2 files changed, 25 insertions(+), 14 deletions(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 55c74fdff0..71067ac4f4 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -52,6 +52,7 @@ #include #include #include +#include #include #include #include @@ -721,6 +722,9 @@ int commander_thread_main(int argc, char *argv[]) status.condition_power_input_valid = true; status.avionics_power_rail_voltage = -1.0f; + // CIRCUIT BREAKERS + status.circuit_breaker_engaged_power_check = false; + /* publish initial state */ status_pub = orb_advertise(ORB_ID(vehicle_status), &status); @@ -907,6 +911,9 @@ int commander_thread_main(int argc, char *argv[]) /* check and update system / component ID */ param_get(_param_system_id, &(status.system_id)); param_get(_param_component_id, &(status.component_id)); + + status.circuit_breaker_engaged_power_check = circuit_breaker_enabled("CBRK_SUPPLY_CHK", CBRK_SUPPLY_CHK_KEY); + status_changed = true; /* re-check RC calibration */ diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 818974648e..84f4d03af8 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -144,26 +144,30 @@ arming_state_transition(struct vehicle_status_s *status, /// current valid_transition = false; } - // Fail transition if power is not good - if (!status->condition_power_input_valid) { + // Perform power checks only if circuit breaker is not + // engaged for these checks + if (!status->circuit_breaker_engaged_power_check) { + // Fail transition if power is not good + if (!status->condition_power_input_valid) { - if (mavlink_fd) { - mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Connect power module."); + if (mavlink_fd) { + mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Connect power module."); + } + + valid_transition = false; } - valid_transition = false; - } + // Fail transition if power levels on the avionics rail + // are insufficient + if ((status->avionics_power_rail_voltage > 0.0f) && + (status->avionics_power_rail_voltage < 4.5f)) { - // Fail transition if power levels on the avionics rail - // are insufficient - if ((status->avionics_power_rail_voltage > 0.0f) && - (status->avionics_power_rail_voltage < 4.5f)) { + if (mavlink_fd) { + mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Avionics power low: %6.2f V.", status->avionics_power_rail_voltage); + } - if (mavlink_fd) { - mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Avionics power low: %6.2f V.", status->avionics_power_rail_voltage); + valid_transition = false; } - - valid_transition = false; } } else if (new_arming_state == ARMING_STATE_STANDBY && status->arming_state == ARMING_STATE_ARMED_ERROR) { From 55ad5588a88bc4957583067beeffe20aa2fcd442 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 25 May 2014 20:35:16 +0200 Subject: [PATCH 07/67] system status topic: Add support for circuit breaker --- src/modules/uORB/topics/vehicle_status.h | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index 2ed0d6ad45..85962883d1 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -208,6 +208,8 @@ struct vehicle_status_s { uint16_t errors_count2; uint16_t errors_count3; uint16_t errors_count4; + + bool circuit_breaker_engaged_power_check; }; /** From 77365188ada556c5953f6f026566d4912e8c6e76 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 25 May 2014 20:35:37 +0200 Subject: [PATCH 08/67] mc_att_control: Support circuit breakers --- .../mc_att_control/mc_att_control_main.cpp | 17 +++++++++++++---- 1 file changed, 13 insertions(+), 4 deletions(-) diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index 20e016da34..19c10198c2 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -72,6 +72,7 @@ #include #include #include +#include #include #include @@ -123,6 +124,8 @@ private: orb_advert_t _v_rates_sp_pub; /**< rate setpoint publication */ orb_advert_t _actuators_0_pub; /**< attitude actuator controls publication */ + bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */ + struct vehicle_attitude_s _v_att; /**< vehicle attitude */ struct vehicle_attitude_setpoint_s _v_att_sp; /**< vehicle attitude setpoint */ struct vehicle_rates_setpoint_s _v_rates_sp; /**< vehicle rates setpoint */ @@ -267,6 +270,8 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() : _v_rates_sp_pub(-1), _actuators_0_pub(-1), + _actuators_0_circuit_breaker_enabled(false), + /* performance counters */ _loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control")) @@ -402,6 +407,8 @@ MulticopterAttitudeControl::parameters_update() param_get(_params_handles.acro_yaw_max, &v); _params.acro_rate_max(2) = math::radians(v); + _actuators_0_circuit_breaker_enabled = circuit_breaker_enabled("CBRK_RATE_CTRL", CBRK_RATE_CTRL_KEY); + return OK; } @@ -840,11 +847,13 @@ MulticopterAttitudeControl::task_main() _actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f; _actuators.timestamp = hrt_absolute_time(); - if (_actuators_0_pub > 0) { - orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators); + if (!_actuators_0_circuit_breaker_enabled) { + if (_actuators_0_pub > 0) { + orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators); - } else { - _actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators); + } else { + _actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators); + } } } } From 8ea5fd20c1c268c6baf145606186592bf5bd3699 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 25 May 2014 20:36:05 +0200 Subject: [PATCH 09/67] px4io driver: Add support for circuit breakers --- src/drivers/px4io/px4io.cpp | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 972f451485..c6acfe6be8 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -72,6 +72,7 @@ #include #include #include +#include #include #include @@ -1010,6 +1011,19 @@ PX4IO::task_main() } } + int32_t safety_param_val; + param_t safety_param = param_find("RC_FAILS_THR"); + + if (safety_param != PARAM_INVALID) { + + param_get(safety_param, &safety_param_val); + + if (safety_param_val == PX4IO_FORCE_SAFETY_MAGIC) { + /* disable IO safety if circuit breaker asked for it */ + (void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, safety_param_val); + } + } + } } From 16ca6c1605e0864d37cce4cfdbe790df5746bb38 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Tue, 27 May 2014 14:52:42 +0200 Subject: [PATCH 10/67] position_estimator_inav: don't change local z on first time ref initialization --- .../position_estimator_inav/position_estimator_inav_main.c | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index fdc3233e03..f236d546b9 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -622,8 +622,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) } else if (t > ref_init_start + ref_init_delay) { ref_inited = true; - /* update baro offset */ - baro_offset -= z_est[0]; /* set position estimate to (0, 0, 0), use GPS velocity for XY */ x_est[0] = 0.0f; @@ -631,18 +629,17 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) x_est[2] = accel_NED[0]; y_est[0] = 0.0f; y_est[1] = gps.vel_e_m_s; - z_est[0] = 0.0f; y_est[2] = accel_NED[1]; local_pos.ref_lat = lat; local_pos.ref_lon = lon; - local_pos.ref_alt = alt; + local_pos.ref_alt = alt + z_est[0]; local_pos.ref_timestamp = t; /* initialize projection */ map_projection_init(&ref, lat, lon); warnx("init ref: lat=%.7f, lon=%.7f, alt=%.2f", lat, lon, alt); - mavlink_log_info(mavlink_fd, "[inav] init ref: lat=%.7f, lon=%.7f, alt=%.2f", lat, lon, alt); + mavlink_log_info(mavlink_fd, "[inav] init ref: %.7f, %.7f, %.2f", lat, lon, alt); } } From 6df2fe9aebb008932055b85f134908127d8b3931 Mon Sep 17 00:00:00 2001 From: Kynos Date: Thu, 29 May 2014 21:23:57 +0200 Subject: [PATCH 11/67] U-blox driver rework, step 1 Handle u-blox 7+8 GNSS, too. Disabled NAV-SVINFO for now (will be rewritten as an optional feature in a later step). Reduced parser buffer size from 300 to 80. --- src/drivers/gps/ubx.cpp | 39 ++++++++++++++++++++--------- src/drivers/gps/ubx.h | 55 +++++++++++++++++++++++++++++++++++------ 2 files changed, 75 insertions(+), 19 deletions(-) diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp index 19cf5beecf..ee53e2ec4f 100644 --- a/src/drivers/gps/ubx.cpp +++ b/src/drivers/gps/ubx.cpp @@ -219,12 +219,14 @@ UBX::configure(unsigned &baudrate) return 1; } +#ifdef UBX_ENABLE_NAV_SVINFO configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_SVINFO, 5); if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) { warnx("MSG CFG FAIL: NAV SVINFO"); return 1; } +#endif configure_message_rate(UBX_CLASS_MON, UBX_MESSAGE_MON_HW, 1); @@ -386,7 +388,6 @@ UBX::parse_char(uint8_t b) if (_rx_count >= _payload_size + 1) { //+1 because of 2 checksum bytes /* compare checksum */ if (_rx_ck_a == _rx_buffer[_rx_count - 1] && _rx_ck_b == _rx_buffer[_rx_count]) { - decode_init(); return 1; // message received successfully } else { @@ -399,7 +400,7 @@ UBX::parse_char(uint8_t b) _rx_count++; } else { - warnx("buffer full"); + warnx("ubx: buffer full 0x%02x-0x%02x L%u", (unsigned)_message_class, (unsigned)_message_id, _payload_size); decode_init(); return -1; } @@ -450,6 +451,7 @@ UBX::handle_message() _gps_position->s_variance_m_s = packet->sAcc; _gps_position->p_variance_m = packet->pAcc; _gps_position->timestamp_variance = hrt_absolute_time(); + _gps_position->satellites_visible = packet->numSV; ret = 1; break; @@ -486,6 +488,7 @@ UBX::handle_message() break; } +#ifdef UBX_ENABLE_NAV_SVINFO case UBX_MESSAGE_NAV_SVINFO: { //printf("GOT NAV_SVINFO\n"); const int length_part1 = 8; @@ -527,7 +530,9 @@ UBX::handle_message() _gps_position->satellite_azimuth[i] = 0; } - _gps_position->satellites_visible = satellites_used; // visible ~= used but we are interested in the used ones + /* Note: _gps_position->satellites_visible is taken from NAV-SOL now. */ + /* _gps_position->satellites_visible = satellites_used; */ // visible ~= used but we are interested in the used ones + /* TODO: satellites_used may be written into a new field after sat monitoring data got separated from _gps_position */ if (packet_part1->numCh > 0) { _gps_position->satellite_info_available = true; @@ -541,6 +546,7 @@ UBX::handle_message() ret = 1; break; } +#endif /* #ifdef UBX_ENABLE_NAV_SVINFO */ case UBX_MESSAGE_NAV_VELNED: { // printf("GOT NAV_VELNED\n"); @@ -573,23 +579,34 @@ UBX::handle_message() break; } - case UBX_CLASS_MON: { + case UBX_CLASS_MON: switch (_message_id) { - case UBX_MESSAGE_MON_HW: { - struct gps_bin_mon_hw_packet *p = (struct gps_bin_mon_hw_packet*) _rx_buffer; - - _gps_position->noise_per_ms = p->noisePerMS; - _gps_position->jamming_indicator = p->jamInd; + case UBX_MESSAGE_MON_HW: + switch (_payload_size) { + case UBX_MON_HW_UBX6_RX_PAYLOAD_SIZE: /* u-blox 6 msg format */ + _gps_position->noise_per_ms = ((struct gps_bin_mon_hw_ubx6_packet*) _rx_buffer)->noisePerMS; + _gps_position->jamming_indicator = ((struct gps_bin_mon_hw_ubx6_packet*) _rx_buffer)->jamInd; ret = 1; break; + + case UBX_MON_HW_UBX7_RX_PAYLOAD_SIZE: /* u-blox 7+ msg format */ + _gps_position->noise_per_ms = ((struct gps_bin_mon_hw_ubx7_packet*) _rx_buffer)->noisePerMS; + _gps_position->jamming_indicator = ((struct gps_bin_mon_hw_ubx7_packet*) _rx_buffer)->jamInd; + ret = 1; + break; + + default: // unexpected payload size: + ret = 1; // ignore but don't disable msg + break; } + break; default: break; } - } + break; default: break; @@ -597,7 +614,7 @@ UBX::handle_message() if (ret == 0) { /* message not handled */ - warnx("ubx: unknown message received: 0x%02x-0x%02x", (unsigned)_message_class, (unsigned)_message_id); + warnx("ubx: message not handled: 0x%02x-0x%02x L%u", (unsigned)_message_class, (unsigned)_message_id, _payload_size); hrt_abstime t = hrt_absolute_time(); diff --git a/src/drivers/gps/ubx.h b/src/drivers/gps/ubx.h index 5cf47b60b5..56f73fa63e 100644 --- a/src/drivers/gps/ubx.h +++ b/src/drivers/gps/ubx.h @@ -48,6 +48,10 @@ #include "gps_helper.h" +/* TODO: processing of NAV_SVINFO disabled, has to be re-written as an optional feature */ +/* TODO: make this a command line option, allocate buffer dynamically */ +#undef UBX_ENABLE_NAV_SVINFO + #define UBX_SYNC1 0xB5 #define UBX_SYNC2 0x62 @@ -60,10 +64,8 @@ /* MessageIDs (the ones that are used) */ #define UBX_MESSAGE_NAV_POSLLH 0x02 -//#define UBX_MESSAGE_NAV_DOP 0x04 #define UBX_MESSAGE_NAV_SOL 0x06 #define UBX_MESSAGE_NAV_VELNED 0x12 -//#define UBX_MESSAGE_RXM_SVSI 0x20 #define UBX_MESSAGE_NAV_TIMEUTC 0x21 #define UBX_MESSAGE_NAV_SVINFO 0x30 #define UBX_MESSAGE_ACK_NAK 0x00 @@ -72,9 +74,22 @@ #define UBX_MESSAGE_CFG_MSG 0x01 #define UBX_MESSAGE_CFG_RATE 0x08 #define UBX_MESSAGE_CFG_NAV5 0x24 - #define UBX_MESSAGE_MON_HW 0x09 +/* Rx msg payload sizes */ +#define UBX_NAV_POSLLH_RX_PAYLOAD_SIZE 28 /**< NAV_POSLLH Rx msg payload size */ +#define UBX_NAV_SOL_RX_PAYLOAD_SIZE 52 /**< NAV_SOL Rx msg payload size */ +#define UBX_NAV_VELNED_RX_PAYLOAD_SIZE 36 /**< NAV_VELNED Rx msg payload size */ +#define UBX_NAV_TIMEUTC_RX_PAYLOAD_SIZE 20 /**< NAV_TIMEUTC Rx msg payload size */ +#define UBX_MON_HW_UBX6_RX_PAYLOAD_SIZE 68 /**< MON_HW Rx msg payload size for u-blox 6 and below */ +#define UBX_MON_HW_UBX7_RX_PAYLOAD_SIZE 60 /**< MON_HW Rx msg payload size for u-blox 7 and above */ +#define UBX_MAX_RX_PAYLOAD_SIZE 70 /**< arbitrary maximum for calculating parser buffer size w/o NAV_SVINFO active */ + +/* NAV_SVINFO has variable length w/o a published max size, so limit processing to UBX_MAX_NUM_SAT */ +#define UBX_MAX_NUM_SAT 50 /**< Practical observed max number of satellites in SVNFO msg */ +#define UBX_NAV_SVINFO_RX_PAYLOAD_SIZE (8 + 12 * UBX_MAX_NUM_SAT) /**< NAV_SVINFO Rx msg payload size */ + +/* CFG class Tx msg defs */ #define UBX_CFG_PRT_LENGTH 20 #define UBX_CFG_PRT_PAYLOAD_PORTID 0x01 /**< UART1 */ #define UBX_CFG_PRT_PAYLOAD_MODE 0x000008D0 /**< 0b0000100011010000: 8N1 */ @@ -87,7 +102,6 @@ #define UBX_CFG_RATE_PAYLOAD_NAVRATE 1 /**< cannot be changed */ #define UBX_CFG_RATE_PAYLOAD_TIMEREF 0 /**< 0: UTC, 1: GPS time */ - #define UBX_CFG_NAV5_LENGTH 36 #define UBX_CFG_NAV5_PAYLOAD_MASK 0x0005 /**< XXX only update dynamic model and fix mode */ #define UBX_CFG_NAV5_PAYLOAD_DYNMODEL 7 /**< 0: portable, 2: stationary, 3: pedestrian, 4: automotive, 5: sea, 6: airborne <1g, 7: airborne <2g, 8: airborne <4g */ @@ -98,7 +112,6 @@ #define UBX_CFG_MSG_PAYLOAD_RATE1_1HZ 0x05 /**< {0x00, 0x05, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */ #define UBX_CFG_MSG_PAYLOAD_RATE1_05HZ 10 -#define UBX_MAX_PAYLOAD_LENGTH 500 // ************ /** the structures of the binary packets */ @@ -140,7 +153,7 @@ typedef struct { uint32_t sAcc; uint16_t pDOP; uint8_t reserved1; - uint8_t numSV; + uint8_t numSV; /**< Number of SVs used in Nav Solution */ uint32_t reserved2; uint8_t ck_a; uint8_t ck_b; @@ -213,7 +226,7 @@ typedef struct { uint8_t ck_b; } gps_bin_nav_velned_packet_t; -struct gps_bin_mon_hw_packet { +struct gps_bin_mon_hw_ubx6_packet { uint32_t pinSel; uint32_t pinBank; uint32_t pinDir; @@ -233,6 +246,25 @@ struct gps_bin_mon_hw_packet { uint32_t pullL; }; +struct gps_bin_mon_hw_ubx7_packet { + uint32_t pinSel; + uint32_t pinBank; + uint32_t pinDir; + uint32_t pinVal; + uint16_t noisePerMS; + uint16_t agcCnt; + uint8_t aStatus; + uint8_t aPower; + uint8_t flags; + uint8_t __reserved1; + uint32_t usedMask; + uint8_t VP[17]; + uint8_t jamInd; + uint16_t __reserved3; + uint32_t pinIrq; + uint32_t pulLH; + uint32_t pullL; +}; //typedef struct { // int32_t time_milliseconds; /**< Measurement integer millisecond GPS time of week */ @@ -343,7 +375,14 @@ typedef enum { //typedef type_gps_bin_ubx_state gps_bin_ubx_state_t; #pragma pack(pop) -#define RECV_BUFFER_SIZE 300 //The NAV-SOL messages really need such a big buffer +/* calculate parser rx buffer size dependent on NAV_SVINFO enabled or not */ +/* TODO: make this a command line option, allocate buffer dynamically */ +#define RECV_BUFFER_OVERHEAD 10 // add this to the maximum Rx msg payload size to account for msg overhead */ +#ifdef UBX_ENABLE_NAV_SVINFO + #define RECV_BUFFER_SIZE (UBX_NAV_SVINFO_RX_PAYLOAD_SIZE + RECV_BUFFER_OVERHEAD) +#else + #define RECV_BUFFER_SIZE (UBX_MAX_RX_PAYLOAD_SIZE + RECV_BUFFER_OVERHEAD) +#endif class UBX : public GPS_Helper { From 7349fa90376714b00fe920538950b31a46169d60 Mon Sep 17 00:00:00 2001 From: Kynos Date: Fri, 30 May 2014 11:03:16 +0200 Subject: [PATCH 12/67] Beautifications for tab size 8 Beautifications for tab size 8 --- src/drivers/gps/ubx.cpp | 6 ++-- src/drivers/gps/ubx.h | 74 ++++++++++++++++++++--------------------- 2 files changed, 40 insertions(+), 40 deletions(-) diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp index ee53e2ec4f..d7e9454ae7 100644 --- a/src/drivers/gps/ubx.cpp +++ b/src/drivers/gps/ubx.cpp @@ -59,10 +59,10 @@ #include "ubx.h" -#define UBX_CONFIG_TIMEOUT 200 // ms, timeout for waiting ACK -#define UBX_PACKET_TIMEOUT 2 // ms, if now data during this delay assume that full update received +#define UBX_CONFIG_TIMEOUT 200 // ms, timeout for waiting ACK +#define UBX_PACKET_TIMEOUT 2 // ms, if now data during this delay assume that full update received #define UBX_WAIT_BEFORE_READ 20 // ms, wait before reading to save read() calls -#define DISABLE_MSG_INTERVAL 1000000 // us, try to disable message with this interval +#define DISABLE_MSG_INTERVAL 1000000 // us, try to disable message with this interval UBX::UBX(const int &fd, struct vehicle_gps_position_s *gps_position) : _fd(fd), diff --git a/src/drivers/gps/ubx.h b/src/drivers/gps/ubx.h index 56f73fa63e..b844c315ee 100644 --- a/src/drivers/gps/ubx.h +++ b/src/drivers/gps/ubx.h @@ -34,7 +34,7 @@ /** * @file ubx.h * - * U-Blox protocol definition. Following u-blox 6/7 Receiver Description + * U-Blox protocol definition. Following u-blox 6/7/8 Receiver Description * including Prototol Specification. * * @author Thomas Gubler @@ -86,7 +86,7 @@ #define UBX_MAX_RX_PAYLOAD_SIZE 70 /**< arbitrary maximum for calculating parser buffer size w/o NAV_SVINFO active */ /* NAV_SVINFO has variable length w/o a published max size, so limit processing to UBX_MAX_NUM_SAT */ -#define UBX_MAX_NUM_SAT 50 /**< Practical observed max number of satellites in SVNFO msg */ +#define UBX_MAX_NUM_SAT 50 /**< Practical observed max number of satellites in SVNFO msg */ #define UBX_NAV_SVINFO_RX_PAYLOAD_SIZE (8 + 12 * UBX_MAX_NUM_SAT) /**< NAV_SVINFO Rx msg payload size */ /* CFG class Tx msg defs */ @@ -127,21 +127,21 @@ struct ubx_header { typedef struct { uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ - int32_t lon; /**< Longitude * 1e-7, deg */ - int32_t lat; /**< Latitude * 1e-7, deg */ - int32_t height; /**< Height above Ellipsoid, mm */ - int32_t height_msl; /**< Height above mean sea level, mm */ - uint32_t hAcc; /**< Horizontal Accuracy Estimate, mm */ - uint32_t vAcc; /**< Vertical Accuracy Estimate, mm */ + int32_t lon; /**< Longitude * 1e-7, deg */ + int32_t lat; /**< Latitude * 1e-7, deg */ + int32_t height; /**< Height above Ellipsoid, mm */ + int32_t height_msl; /**< Height above mean sea level, mm */ + uint32_t hAcc; /**< Horizontal Accuracy Estimate, mm */ + uint32_t vAcc; /**< Vertical Accuracy Estimate, mm */ uint8_t ck_a; uint8_t ck_b; } gps_bin_nav_posllh_packet_t; typedef struct { - uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ + uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ int32_t time_nanoseconds; /**< Fractional Nanoseconds remainder of rounded ms above, range -500000 .. 500000 */ - int16_t week; /**< GPS week (GPS time) */ - uint8_t gpsFix; /**< GPS Fix: 0 = No fix, 1 = Dead Reckoning only, 2 = 2D fix, 3 = 3d-fix, 4 = GPS + dead reckoning, 5 = time only fix */ + int16_t week; /**< GPS week (GPS time) */ + uint8_t gpsFix; /**< GPS Fix: 0 = No fix, 1 = Dead Reckoning only, 2 = 2D fix, 3 = 3d-fix, 4 = GPS + dead reckoning, 5 = time only fix */ uint8_t flags; int32_t ecefX; int32_t ecefY; @@ -153,7 +153,7 @@ typedef struct { uint32_t sAcc; uint16_t pDOP; uint8_t reserved1; - uint8_t numSV; /**< Number of SVs used in Nav Solution */ + uint8_t numSV; /**< Number of SVs used in Nav Solution */ uint32_t reserved2; uint8_t ck_a; uint8_t ck_b; @@ -163,47 +163,47 @@ typedef struct { uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ uint32_t time_accuracy; /**< Time Accuracy Estimate, ns */ int32_t time_nanoseconds; /**< Nanoseconds of second, range -1e9 .. 1e9 (UTC) */ - uint16_t year; /**< Year, range 1999..2099 (UTC) */ - uint8_t month; /**< Month, range 1..12 (UTC) */ - uint8_t day; /**< Day of Month, range 1..31 (UTC) */ - uint8_t hour; /**< Hour of Day, range 0..23 (UTC) */ - uint8_t min; /**< Minute of Hour, range 0..59 (UTC) */ - uint8_t sec; /**< Seconds of Minute, range 0..59 (UTC) */ + uint16_t year; /**< Year, range 1999..2099 (UTC) */ + uint8_t month; /**< Month, range 1..12 (UTC) */ + uint8_t day; /**< Day of Month, range 1..31 (UTC) */ + uint8_t hour; /**< Hour of Day, range 0..23 (UTC) */ + uint8_t min; /**< Minute of Hour, range 0..59 (UTC) */ + uint8_t sec; /**< Seconds of Minute, range 0..59 (UTC) */ uint8_t valid_flag; /**< Validity Flags (see ubx documentation) */ uint8_t ck_a; uint8_t ck_b; } gps_bin_nav_timeutc_packet_t; //typedef struct { -// uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ -// uint16_t gDOP; /**< Geometric DOP (scaling 0.01) */ -// uint16_t pDOP; /**< Position DOP (scaling 0.01) */ -// uint16_t tDOP; /**< Time DOP (scaling 0.01) */ -// uint16_t vDOP; /**< Vertical DOP (scaling 0.01) */ -// uint16_t hDOP; /**< Horizontal DOP (scaling 0.01) */ -// uint16_t nDOP; /**< Northing DOP (scaling 0.01) */ -// uint16_t eDOP; /**< Easting DOP (scaling 0.01) */ +// uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ +// uint16_t gDOP; /**< Geometric DOP (scaling 0.01) */ +// uint16_t pDOP; /**< Position DOP (scaling 0.01) */ +// uint16_t tDOP; /**< Time DOP (scaling 0.01) */ +// uint16_t vDOP; /**< Vertical DOP (scaling 0.01) */ +// uint16_t hDOP; /**< Horizontal DOP (scaling 0.01) */ +// uint16_t nDOP; /**< Northing DOP (scaling 0.01) */ +// uint16_t eDOP; /**< Easting DOP (scaling 0.01) */ // uint8_t ck_a; // uint8_t ck_b; //} gps_bin_nav_dop_packet_t; typedef struct { - uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ - uint8_t numCh; /**< Number of channels */ + uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ + uint8_t numCh; /**< Number of channels */ uint8_t globalFlags; uint16_t reserved2; } gps_bin_nav_svinfo_part1_packet_t; typedef struct { - uint8_t chn; /**< Channel number, 255 for SVs not assigned to a channel */ - uint8_t svid; /**< Satellite ID */ + uint8_t chn; /**< Channel number, 255 for SVs not assigned to a channel */ + uint8_t svid; /**< Satellite ID */ uint8_t flags; uint8_t quality; - uint8_t cno; /**< Carrier to Noise Ratio (Signal Strength), dbHz */ - int8_t elev; /**< Elevation in integer degrees */ - int16_t azim; /**< Azimuth in integer degrees */ - int32_t prRes; /**< Pseudo range residual in centimetres */ + uint8_t cno; /**< Carrier to Noise Ratio (Signal Strength), dbHz */ + int8_t elev; /**< Elevation in integer degrees */ + int16_t azim; /**< Azimuth in integer degrees */ + int32_t prRes; /**< Pseudo range residual in centimetres */ } gps_bin_nav_svinfo_part2_packet_t; @@ -268,8 +268,8 @@ struct gps_bin_mon_hw_ubx7_packet { //typedef struct { // int32_t time_milliseconds; /**< Measurement integer millisecond GPS time of week */ -// int16_t week; /**< Measurement GPS week number */ -// uint8_t numVis; /**< Number of visible satellites */ +// int16_t week; /**< Measurement GPS week number */ +// uint8_t numVis; /**< Number of visible satellites */ // // //... rest of package is not used in this implementation // @@ -395,7 +395,7 @@ public: private: /** - * Parse the binary MTK packet + * Parse the binary UBX packet */ int parse_char(uint8_t b); From 9bad828bc0033c7017978de2321d3a8698c0afc6 Mon Sep 17 00:00:00 2001 From: Kynos Date: Fri, 30 May 2014 14:30:25 +0200 Subject: [PATCH 13/67] U-blox driver rework, step 2 Moved satellite info from vehicle_gps_position_s into a new uORB topic satellite_info. Renamed satellites_visible to satellites_used to reflect true content. sdlog2 will log info for GPS satellites only for now. --- src/drivers/blinkm/blinkm.cpp | 8 +- src/drivers/gps/gps.cpp | 2 +- src/drivers/gps/mtk.cpp | 2 +- src/drivers/gps/ubx.cpp | 3 +- src/drivers/hott/messages.cpp | 2 +- src/modules/mavlink/mavlink_messages.cpp | 2 +- src/modules/mavlink/mavlink_receiver.cpp | 3 +- src/modules/sdlog2/sdlog2.c | 48 +++++++---- src/modules/uORB/Subscription.cpp | 2 + src/modules/uORB/objects_common.cpp | 3 + src/modules/uORB/topics/satellite_info.h | 86 +++++++++++++++++++ .../uORB/topics/vehicle_gps_position.h | 9 +- 12 files changed, 130 insertions(+), 40 deletions(-) create mode 100644 src/modules/uORB/topics/satellite_info.h diff --git a/src/drivers/blinkm/blinkm.cpp b/src/drivers/blinkm/blinkm.cpp index 5c502f6822..39bf1fcfcd 100644 --- a/src/drivers/blinkm/blinkm.cpp +++ b/src/drivers/blinkm/blinkm.cpp @@ -559,13 +559,7 @@ BlinkM::led() } /* get number of used satellites in navigation */ - num_of_used_sats = 0; - - for(unsigned satloop=0; satloopget_position_update_rate()); diff --git a/src/drivers/gps/mtk.cpp b/src/drivers/gps/mtk.cpp index 680f00d97f..7b957e55d2 100644 --- a/src/drivers/gps/mtk.cpp +++ b/src/drivers/gps/mtk.cpp @@ -263,7 +263,7 @@ MTK::handle_message(gps_mtk_packet_t &packet) _gps_position->epv_m = _gps_position->eph_m; // unknown in mtk custom mode, so we cheat with eph _gps_position->vel_m_s = ((float)packet.ground_speed) * 1e-2f; // from cm/s to m/s _gps_position->cog_rad = ((float)packet.heading) * M_DEG_TO_RAD_F * 1e-2f; //from deg *100 to rad - _gps_position->satellites_visible = packet.satellites; + _gps_position->satellites_used = packet.satellites; /* convert time and date information to unix timestamp */ struct tm timeinfo; //TODO: test this conversion diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp index d7e9454ae7..462875b6cc 100644 --- a/src/drivers/gps/ubx.cpp +++ b/src/drivers/gps/ubx.cpp @@ -55,6 +55,7 @@ #include #include #include +#include #include #include "ubx.h" @@ -451,7 +452,7 @@ UBX::handle_message() _gps_position->s_variance_m_s = packet->sAcc; _gps_position->p_variance_m = packet->pAcc; _gps_position->timestamp_variance = hrt_absolute_time(); - _gps_position->satellites_visible = packet->numSV; + _gps_position->satellites_used = packet->numSV; ret = 1; break; diff --git a/src/drivers/hott/messages.cpp b/src/drivers/hott/messages.cpp index 1e779e8dc5..0861325739 100644 --- a/src/drivers/hott/messages.cpp +++ b/src/drivers/hott/messages.cpp @@ -226,7 +226,7 @@ build_gps_response(uint8_t *buffer, size_t *size) msg.sensor_id = GPS_SENSOR_ID; msg.sensor_text_id = GPS_SENSOR_TEXT_ID; - msg.gps_num_sat = gps.satellites_visible; + msg.gps_num_sat = gps.satellites_used; /* The GPS fix type: 0 = none, 2 = 2D, 3 = 3D */ msg.gps_fix_char = (uint8_t)(gps.fix_type + 48); diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 933478f560..146e2d4b82 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -548,7 +548,7 @@ protected: cm_uint16_from_m_float(gps->epv_m), gps->vel_m_s * 100.0f, _wrap_2pi(gps->cog_rad) * M_RAD_TO_DEG_F * 1e2f, - gps->satellites_visible); + gps->satellites_used); } } }; diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 53769e0cfe..46da1a0bea 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -682,9 +682,8 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg) hil_gps.vel_ned_valid = true; hil_gps.cog_rad = _wrap_pi(gps.cog * M_DEG_TO_RAD_F * 1e-2f); - hil_gps.timestamp_satellites = timestamp; hil_gps.fix_type = gps.fix_type; - hil_gps.satellites_visible = gps.satellites_visible; + hil_gps.satellites_used = gps.satellites_visible; //TODO: rename mavlink_hil_gps_t sats visible to used? if (_gps_pub < 0) { _gps_pub = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps); diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 577cadfbbe..4ff6c30aa3 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -74,6 +74,7 @@ #include #include #include +#include #include #include #include @@ -139,6 +140,8 @@ PARAM_DEFINE_INT32(SDLOG_EXT, -1); fds[fdsc_count].events = POLLIN; \ fdsc_count++; +#define MIN(X,Y) ((X) < (Y) ? (X) : (Y)) + static bool main_thread_should_exit = false; /**< Deamon exit flag */ static bool thread_running = false; /**< Deamon status flag */ static int deamon_task; /**< Handle of deamon task / thread */ @@ -941,6 +944,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct estimator_status_report estimator_status; struct system_power_s system_power; struct servorail_status_s servorail_status; + struct satellite_info_s sat_info; } buf; memset(&buf, 0, sizeof(buf)); @@ -1000,6 +1004,7 @@ int sdlog2_thread_main(int argc, char *argv[]) int global_pos_sub; int triplet_sub; int gps_pos_sub; + int sat_info_sub; int vicon_pos_sub; int flow_sub; int rc_sub; @@ -1017,6 +1022,7 @@ int sdlog2_thread_main(int argc, char *argv[]) subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); subs.status_sub = orb_subscribe(ORB_ID(vehicle_status)); subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); + subs.sat_info_sub = orb_subscribe(ORB_ID(satellite_info)); subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); subs.att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); @@ -1053,6 +1059,9 @@ int sdlog2_thread_main(int argc, char *argv[]) hrt_abstime barometer_timestamp = 0; hrt_abstime differential_pressure_timestamp = 0; + /* initialize calculated mean SNR */ + float snr_mean = 0.0f; + /* enable logging on start if needed */ if (log_on_start) { /* check GPS topic to get GPS time */ @@ -1115,14 +1124,6 @@ int sdlog2_thread_main(int argc, char *argv[]) /* --- GPS POSITION - UNIT #1 --- */ if (gps_pos_updated) { - float snr_mean = 0.0f; - - for (unsigned i = 0; i < buf_gps_pos.satellites_visible; i++) { - snr_mean += buf_gps_pos.satellite_snr[i]; - } - - snr_mean /= buf_gps_pos.satellites_visible; - log_msg.msg_type = LOG_GPS_MSG; log_msg.body.log_GPS.gps_time = buf_gps_pos.time_gps_usec; log_msg.body.log_GPS.fix_type = buf_gps_pos.fix_type; @@ -1135,44 +1136,55 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_GPS.vel_e = buf_gps_pos.vel_e_m_s; log_msg.body.log_GPS.vel_d = buf_gps_pos.vel_d_m_s; log_msg.body.log_GPS.cog = buf_gps_pos.cog_rad; - log_msg.body.log_GPS.sats = buf_gps_pos.satellites_visible; + log_msg.body.log_GPS.sats = buf_gps_pos.satellites_used; log_msg.body.log_GPS.snr_mean = snr_mean; log_msg.body.log_GPS.noise_per_ms = buf_gps_pos.noise_per_ms; log_msg.body.log_GPS.jamming_indicator = buf_gps_pos.jamming_indicator; LOGBUFFER_WRITE_AND_COUNT(GPS); + } + + /* --- SATELLITE INFO - UNIT #1 --- */ + if (_extended_logging) { + + if (copy_if_updated(ORB_ID(satellite_info), subs.sat_info_sub, &buf.sat_info)) { - if (_extended_logging) { /* log the SNR of each satellite for a detailed view of signal quality */ - unsigned gps_msg_max_snr = sizeof(buf_gps_pos.satellite_snr) / sizeof(buf_gps_pos.satellite_snr[0]); + unsigned sat_info_count = MIN(buf.sat_info.count, sizeof(buf.sat_info.snr) / sizeof(buf.sat_info.snr[0])); unsigned log_max_snr = sizeof(log_msg.body.log_GS0A.satellite_snr) / sizeof(log_msg.body.log_GS0A.satellite_snr[0]); log_msg.msg_type = LOG_GS0A_MSG; memset(&log_msg.body.log_GS0A, 0, sizeof(log_msg.body.log_GS0A)); - /* fill set A */ - for (unsigned i = 0; i < gps_msg_max_snr; i++) { + snr_mean = 0.0f; - int satindex = buf_gps_pos.satellite_prn[i] - 1; + /* fill set A and calculate mean SNR */ + for (unsigned i = 0; i < sat_info_count; i++) { + + snr_mean += buf.sat_info.snr[i]; + + int satindex = buf.sat_info.svid[i] - 1; /* handles index exceeding and wraps to to arithmetic errors */ if ((satindex >= 0) && (satindex < (int)log_max_snr)) { /* map satellites by their ID so that logs from two receivers can be compared */ - log_msg.body.log_GS0A.satellite_snr[satindex] = buf_gps_pos.satellite_snr[i]; + log_msg.body.log_GS0A.satellite_snr[satindex] = buf.sat_info.snr[i]; } } LOGBUFFER_WRITE_AND_COUNT(GS0A); + snr_mean /= sat_info_count; log_msg.msg_type = LOG_GS0B_MSG; memset(&log_msg.body.log_GS0B, 0, sizeof(log_msg.body.log_GS0B)); + /* fill set B */ - for (unsigned i = 0; i < gps_msg_max_snr; i++) { + for (unsigned i = 0; i < sat_info_count; i++) { /* get second bank of satellites, thus deduct bank size from index */ - int satindex = buf_gps_pos.satellite_prn[i] - 1 - log_max_snr; + int satindex = buf.sat_info.svid[i] - 1 - log_max_snr; /* handles index exceeding and wraps to to arithmetic errors */ if ((satindex >= 0) && (satindex < (int)log_max_snr)) { /* map satellites by their ID so that logs from two receivers can be compared */ - log_msg.body.log_GS0B.satellite_snr[satindex] = buf_gps_pos.satellite_snr[i]; + log_msg.body.log_GS0B.satellite_snr[satindex] = buf.sat_info.snr[i]; } } LOGBUFFER_WRITE_AND_COUNT(GS0B); diff --git a/src/modules/uORB/Subscription.cpp b/src/modules/uORB/Subscription.cpp index c1d1a938f1..44b6debc7e 100644 --- a/src/modules/uORB/Subscription.cpp +++ b/src/modules/uORB/Subscription.cpp @@ -40,6 +40,7 @@ #include "topics/parameter_update.h" #include "topics/actuator_controls.h" #include "topics/vehicle_gps_position.h" +#include "topics/satellite_info.h" #include "topics/sensor_combined.h" #include "topics/vehicle_attitude.h" #include "topics/vehicle_global_position.h" @@ -88,6 +89,7 @@ T Subscription::getData() { template class __EXPORT Subscription; template class __EXPORT Subscription; template class __EXPORT Subscription; +template class __EXPORT Subscription; template class __EXPORT Subscription; template class __EXPORT Subscription; template class __EXPORT Subscription; diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index 90675bb2e9..fc12b9ed59 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -75,6 +75,9 @@ ORB_DEFINE(sensor_combined, struct sensor_combined_s); #include "topics/vehicle_gps_position.h" ORB_DEFINE(vehicle_gps_position, struct vehicle_gps_position_s); +#include "topics/satellite_info.h" +ORB_DEFINE(satellite_info, struct satellite_info_s); + #include "topics/home_position.h" ORB_DEFINE(home_position, struct home_position_s); diff --git a/src/modules/uORB/topics/satellite_info.h b/src/modules/uORB/topics/satellite_info.h new file mode 100644 index 0000000000..5f799eda47 --- /dev/null +++ b/src/modules/uORB/topics/satellite_info.h @@ -0,0 +1,86 @@ +/**************************************************************************** + * + * Copyright (C) 2014 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler + * @author Julian Oes + * @author Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file satellite_info.h + * Definition of the GNSS satellite info uORB topic. + */ + +#ifndef TOPIC_SAT_INFO_H_ +#define TOPIC_SAT_INFO_H_ + +#include +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +/** + * GNSS Satellite Info. + */ +struct satellite_info_s { + uint64_t timestamp; /**< Timestamp of satellite information */ + uint8_t count; /**< Number of satellites in satellite_...[] arrays */ + uint8_t svid[20]; /**< Space vehicle ID [1..255], see scheme below */ + uint8_t used[20]; /**< 0: Satellite not used, 1: used for navigation */ + uint8_t elevation[20]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */ + uint8_t azimuth[20]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */ + uint8_t snr[20]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. */ +}; + +/** + * NAV_SVINFO space vehicle ID (svid) scheme according to u-blox protocol specs + * u-bloxM8-V15_ReceiverDescriptionProtocolSpec_Public_(UBX-13003221).pdf + * + * GPS 1-32 + * SBAS 120-158 + * Galileo 211-246 + * BeiDou 159-163, 33-64 + * QZSS 193-197 + * GLONASS 65-96, 255 + * + */ + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(satellite_info); + +#endif diff --git a/src/modules/uORB/topics/vehicle_gps_position.h b/src/modules/uORB/topics/vehicle_gps_position.h index 5924a324d5..a50f02139c 100644 --- a/src/modules/uORB/topics/vehicle_gps_position.h +++ b/src/modules/uORB/topics/vehicle_gps_position.h @@ -82,14 +82,7 @@ struct vehicle_gps_position_s { uint64_t timestamp_time; /**< Timestamp for time information */ uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module */ - uint64_t timestamp_satellites; /**< Timestamp for sattelite information */ - uint8_t satellites_visible; /**< Number of satellites visible. If unknown, set to 255 */ - uint8_t satellite_prn[20]; /**< Global satellite ID */ - uint8_t satellite_used[20]; /**< 0: Satellite not used, 1: used for localization */ - uint8_t satellite_elevation[20]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */ - uint8_t satellite_azimuth[20]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */ - uint8_t satellite_snr[20]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. */ - bool satellite_info_available; /**< 0 for no info, 1 for info available */ + uint8_t satellites_used; /**< Number of satellites used */ }; /** From 9f754e0e9a2e2ad75a3fe5a15690cf542ce08e8a Mon Sep 17 00:00:00 2001 From: Kynos Date: Sun, 8 Jun 2014 14:05:35 +0200 Subject: [PATCH 14/67] U-blox driver rework, step 3 More sat info isolation Flush input after changing baudrate to allow driver restart w/o GNSS module restart --- src/drivers/gps/gps.cpp | 98 +++++++++++-------- src/drivers/gps/ubx.cpp | 119 ++++++++++------------- src/drivers/gps/ubx.h | 10 +- src/modules/uORB/topics/satellite_info.h | 17 ++-- 4 files changed, 126 insertions(+), 118 deletions(-) diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index d2ffc30baa..d8e2bd797e 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -63,6 +63,7 @@ #include #include #include +#include #include @@ -106,8 +107,10 @@ private: bool _mode_changed; ///< flag that the GPS mode has changed gps_driver_mode_t _mode; ///< current mode GPS_Helper *_Helper; ///< instance of GPS parser - struct vehicle_gps_position_s _report; ///< uORB topic for gps position - orb_advert_t _report_pub; ///< uORB pub for gps position + struct vehicle_gps_position_s _report_gps_pos; ///< uORB topic for gps position + orb_advert_t _report_gps_pos_pub; ///< uORB pub for gps position + struct satellite_info_s _report_sat_info; ///< uORB topic for satellite info + orb_advert_t _report_sat_info_pub; ///< uORB pub for satellite info float _rate; ///< position update rate bool _fake_gps; ///< fake gps output @@ -161,7 +164,8 @@ GPS::GPS(const char *uart_path, bool fake_gps) : _mode_changed(false), _mode(GPS_DRIVER_MODE_UBX), _Helper(nullptr), - _report_pub(-1), + _report_gps_pos_pub(-1), + _report_sat_info_pub(-1), _rate(0.0f), _fake_gps(fake_gps) { @@ -172,7 +176,8 @@ GPS::GPS(const char *uart_path, bool fake_gps) : /* we need this potentially before it could be set in task_main */ g_dev = this; - memset(&_report, 0, sizeof(_report)); + memset(&_report_gps_pos, 0, sizeof(_report_gps_pos)); + memset(&_report_sat_info, 0, sizeof(_report_sat_info)); _debug_enabled = true; } @@ -271,33 +276,33 @@ GPS::task_main() if (_fake_gps) { - _report.timestamp_position = hrt_absolute_time(); - _report.lat = (int32_t)47.378301e7f; - _report.lon = (int32_t)8.538777e7f; - _report.alt = (int32_t)1200e3f; - _report.timestamp_variance = hrt_absolute_time(); - _report.s_variance_m_s = 10.0f; - _report.p_variance_m = 10.0f; - _report.c_variance_rad = 0.1f; - _report.fix_type = 3; - _report.eph_m = 0.9f; - _report.epv_m = 1.8f; - _report.timestamp_velocity = hrt_absolute_time(); - _report.vel_n_m_s = 0.0f; - _report.vel_e_m_s = 0.0f; - _report.vel_d_m_s = 0.0f; - _report.vel_m_s = sqrtf(_report.vel_n_m_s * _report.vel_n_m_s + _report.vel_e_m_s * _report.vel_e_m_s + _report.vel_d_m_s * _report.vel_d_m_s); - _report.cog_rad = 0.0f; - _report.vel_ned_valid = true; + _report_gps_pos.timestamp_position = hrt_absolute_time(); + _report_gps_pos.lat = (int32_t)47.378301e7f; + _report_gps_pos.lon = (int32_t)8.538777e7f; + _report_gps_pos.alt = (int32_t)1200e3f; + _report_gps_pos.timestamp_variance = hrt_absolute_time(); + _report_gps_pos.s_variance_m_s = 10.0f; + _report_gps_pos.p_variance_m = 10.0f; + _report_gps_pos.c_variance_rad = 0.1f; + _report_gps_pos.fix_type = 3; + _report_gps_pos.eph_m = 0.9f; + _report_gps_pos.epv_m = 1.8f; + _report_gps_pos.timestamp_velocity = hrt_absolute_time(); + _report_gps_pos.vel_n_m_s = 0.0f; + _report_gps_pos.vel_e_m_s = 0.0f; + _report_gps_pos.vel_d_m_s = 0.0f; + _report_gps_pos.vel_m_s = sqrtf(_report_gps_pos.vel_n_m_s * _report_gps_pos.vel_n_m_s + _report_gps_pos.vel_e_m_s * _report_gps_pos.vel_e_m_s + _report_gps_pos.vel_d_m_s * _report_gps_pos.vel_d_m_s); + _report_gps_pos.cog_rad = 0.0f; + _report_gps_pos.vel_ned_valid = true; //no time and satellite information simulated if (!(_pub_blocked)) { - if (_report_pub > 0) { - orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report); + if (_report_gps_pos_pub > 0) { + orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub, &_report_gps_pos); } else { - _report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report); + _report_gps_pos_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report_gps_pos); } } @@ -313,11 +318,11 @@ GPS::task_main() switch (_mode) { case GPS_DRIVER_MODE_UBX: - _Helper = new UBX(_serial_fd, &_report); + _Helper = new UBX(_serial_fd, &_report_gps_pos, &_report_sat_info, UBX_ENABLE_NAV_SVINFO); break; case GPS_DRIVER_MODE_MTK: - _Helper = new MTK(_serial_fd, &_report); + _Helper = new MTK(_serial_fd, &_report_gps_pos); break; default: @@ -332,20 +337,33 @@ GPS::task_main() // GPS is obviously detected successfully, reset statistics _Helper->reset_update_rates(); - while (_Helper->receive(TIMEOUT_5HZ) > 0 && !_task_should_exit) { + int helper_ret; + while ((helper_ret = _Helper->receive(TIMEOUT_5HZ)) > 0 && !_task_should_exit) { // lock(); /* opportunistic publishing - else invalid data would end up on the bus */ if (!(_pub_blocked)) { - if (_report_pub > 0) { - orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report); + if (helper_ret & 1) { + if (_report_gps_pos_pub > 0) { + orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub, &_report_gps_pos); - } else { - _report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report); + } else { + _report_gps_pos_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report_gps_pos); + } + } + if (helper_ret & 2) { + if (_report_sat_info_pub > 0) { + orb_publish(ORB_ID(satellite_info), _report_sat_info_pub, &_report_sat_info); + + } else { + _report_sat_info_pub = orb_advertise(ORB_ID(satellite_info), &_report_sat_info); + } } } - last_rate_count++; + if (helper_ret & 1) { // consider only pos info updates for rate calculation */ + last_rate_count++; + } /* measure update rate every 5 seconds */ if (hrt_absolute_time() - last_rate_measurement > RATE_MEASUREMENT_PERIOD) { @@ -357,7 +375,7 @@ GPS::task_main() } if (!_healthy) { - char *mode_str = "unknown"; + const char *mode_str = "unknown"; switch (_mode) { case GPS_DRIVER_MODE_UBX: @@ -447,11 +465,11 @@ GPS::print_info() warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_healthy) ? "OK" : "NOT OK"); - if (_report.timestamp_position != 0) { - warnx("position lock: %dD, satellites: %d, last update: %8.4fms ago", (int)_report.fix_type, - _report.satellites_used, (double)(hrt_absolute_time() - _report.timestamp_position) / 1000.0f); - warnx("lat: %d, lon: %d, alt: %d", _report.lat, _report.lon, _report.alt); - warnx("eph: %.2fm, epv: %.2fm", (double)_report.eph_m, (double)_report.epv_m); + if (_report_gps_pos.timestamp_position != 0) { + warnx("position lock: %dD, satellites: %d, last update: %8.4fms ago", (int)_report_gps_pos.fix_type, + _report_gps_pos.satellites_used, (double)(hrt_absolute_time() - _report_gps_pos.timestamp_position) / 1000.0); + warnx("lat: %d, lon: %d, alt: %d", _report_gps_pos.lat, _report_gps_pos.lon, _report_gps_pos.alt); + warnx("eph: %.2fm, epv: %.2fm", (double)_report_gps_pos.eph_m, (double)_report_gps_pos.epv_m); warnx("rate position: \t%6.2f Hz", (double)_Helper->get_position_update_rate()); warnx("rate velocity: \t%6.2f Hz", (double)_Helper->get_velocity_update_rate()); warnx("rate publication:\t%6.2f Hz", (double)_rate); @@ -578,7 +596,7 @@ gps_main(int argc, char *argv[]) { /* set to default */ - char *device_name = GPS_DEFAULT_UART_PORT; + const char *device_name = GPS_DEFAULT_UART_PORT; bool fake_gps = false; /* diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp index 462875b6cc..dd47572b40 100644 --- a/src/drivers/gps/ubx.cpp +++ b/src/drivers/gps/ubx.cpp @@ -65,9 +65,13 @@ #define UBX_WAIT_BEFORE_READ 20 // ms, wait before reading to save read() calls #define DISABLE_MSG_INTERVAL 1000000 // us, try to disable message with this interval -UBX::UBX(const int &fd, struct vehicle_gps_position_s *gps_position) : +#define MIN(X,Y) ((X) < (Y) ? (X) : (Y)) + +UBX::UBX(const int &fd, struct vehicle_gps_position_s *gps_position, struct satellite_info_s *satellite_info, const bool &enable_sat_info) : _fd(fd), _gps_position(gps_position), + _satellite_info(satellite_info), + _enable_sat_info(enable_sat_info), _configured(false), _waiting_for_ack(false), _disable_cmd_last(0) @@ -84,14 +88,19 @@ UBX::configure(unsigned &baudrate) { _configured = false; /* try different baudrates */ - const unsigned baudrates_to_try[] = {9600, 38400, 19200, 57600, 115200}; + const unsigned baudrates[] = {9600, 38400, 19200, 57600, 115200}; - int baud_i; + unsigned baud_i; - for (baud_i = 0; baud_i < 5; baud_i++) { - baudrate = baudrates_to_try[baud_i]; + for (baud_i = 0; baud_i < sizeof(baudrates) / sizeof(baudrates[0]); baud_i++) { + baudrate = baudrates[baud_i]; set_baudrate(_fd, baudrate); + /* flush input and wait for at least 20 ms silence */ + decode_init(); + wait_for_ack(20); + decode_init(); + /* Send a CFG-PRT message to set the UBX protocol for in and out * and leave the baudrate as it is, we just want an ACK-ACK from this */ @@ -107,7 +116,7 @@ UBX::configure(unsigned &baudrate) cfg_prt_packet.msgID = UBX_MESSAGE_CFG_PRT; cfg_prt_packet.length = UBX_CFG_PRT_LENGTH; cfg_prt_packet.portID = UBX_CFG_PRT_PAYLOAD_PORTID; - cfg_prt_packet.mode = UBX_CFG_PRT_PAYLOAD_MODE; + cfg_prt_packet.mode = UBX_CFG_PRT_PAYLOAD_MODE; cfg_prt_packet.baudRate = baudrate; cfg_prt_packet.inProtoMask = UBX_CFG_PRT_PAYLOAD_INPROTOMASK; cfg_prt_packet.outProtoMask = UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK; @@ -125,7 +134,7 @@ UBX::configure(unsigned &baudrate) cfg_prt_packet.msgID = UBX_MESSAGE_CFG_PRT; cfg_prt_packet.length = UBX_CFG_PRT_LENGTH; cfg_prt_packet.portID = UBX_CFG_PRT_PAYLOAD_PORTID; - cfg_prt_packet.mode = UBX_CFG_PRT_PAYLOAD_MODE; + cfg_prt_packet.mode = UBX_CFG_PRT_PAYLOAD_MODE; cfg_prt_packet.baudRate = UBX_CFG_PRT_PAYLOAD_BAUDRATE; cfg_prt_packet.inProtoMask = UBX_CFG_PRT_PAYLOAD_INPROTOMASK; cfg_prt_packet.outProtoMask = UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK; @@ -144,7 +153,7 @@ UBX::configure(unsigned &baudrate) break; } - if (baud_i >= 5) { + if (baud_i >= sizeof(baudrates) / sizeof(baudrates[0])) { return 1; } @@ -220,14 +229,14 @@ UBX::configure(unsigned &baudrate) return 1; } -#ifdef UBX_ENABLE_NAV_SVINFO - configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_SVINFO, 5); + if (_enable_sat_info) { + configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_SVINFO, 5); - if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) { - warnx("MSG CFG FAIL: NAV SVINFO"); - return 1; + if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) { + warnx("MSG CFG FAIL: NAV SVINFO"); + return 1; + } } -#endif configure_message_rate(UBX_CLASS_MON, UBX_MESSAGE_MON_HW, 1); @@ -244,14 +253,13 @@ int UBX::wait_for_ack(unsigned timeout) { _waiting_for_ack = true; - uint64_t time_started = hrt_absolute_time(); + uint64_t time_end = hrt_absolute_time() + timeout * 1000; - while (hrt_absolute_time() < time_started + timeout * 1000) { + while ((timeout = (time_end - hrt_absolute_time()) / 1000) > 0) { if (receive(timeout) > 0) { if (!_waiting_for_ack) { return 1; } - } else { return -1; // timeout or error receiving, or NAK } @@ -275,7 +283,7 @@ UBX::receive(unsigned timeout) ssize_t count = 0; - bool handled = false; + int handled = 0; while (true) { @@ -290,7 +298,7 @@ UBX::receive(unsigned timeout) } else if (ret == 0) { /* return success after short delay after receiving a packet or timeout after long delay */ if (handled) { - return 1; + return handled; } else { return -1; @@ -311,8 +319,7 @@ UBX::receive(unsigned timeout) /* pass received bytes to the packet decoder */ for (int i = 0; i < count; i++) { if (parse_char(buf[i]) > 0) { - if (handle_message() > 0) - handled = true; + handled |= handle_message(); } } } @@ -334,6 +341,7 @@ UBX::parse_char(uint8_t b) case UBX_DECODE_UNINIT: if (b == UBX_SYNC1) { _decode_state = UBX_DECODE_GOT_SYNC1; + //### printf("\nA"); } break; @@ -342,11 +350,13 @@ UBX::parse_char(uint8_t b) case UBX_DECODE_GOT_SYNC1: if (b == UBX_SYNC2) { _decode_state = UBX_DECODE_GOT_SYNC2; + //### printf("B"); } else { /* Second start symbol was wrong, reset state machine */ decode_init(); /* don't return error, it can be just false sync1 */ + //### printf("-"); } break; @@ -357,24 +367,28 @@ UBX::parse_char(uint8_t b) add_byte_to_checksum(b); _message_class = b; _decode_state = UBX_DECODE_GOT_CLASS; + //### printf("C"); break; case UBX_DECODE_GOT_CLASS: add_byte_to_checksum(b); _message_id = b; _decode_state = UBX_DECODE_GOT_MESSAGEID; + //### printf("D"); break; case UBX_DECODE_GOT_MESSAGEID: add_byte_to_checksum(b); _payload_size = b; //this is the first length byte _decode_state = UBX_DECODE_GOT_LENGTH1; + //### printf("E"); break; case UBX_DECODE_GOT_LENGTH1: add_byte_to_checksum(b); _payload_size += b << 8; // here comes the second byte of length _decode_state = UBX_DECODE_GOT_LENGTH2; + //### printf("F"); break; case UBX_DECODE_GOT_LENGTH2: @@ -389,6 +403,7 @@ UBX::parse_char(uint8_t b) if (_rx_count >= _payload_size + 1) { //+1 because of 2 checksum bytes /* compare checksum */ if (_rx_ck_a == _rx_buffer[_rx_count - 1] && _rx_ck_b == _rx_buffer[_rx_count]) { + //### printf("O\n"); return 1; // message received successfully } else { @@ -399,6 +414,7 @@ UBX::parse_char(uint8_t b) } else if (_rx_count < RECV_BUFFER_SIZE) { _rx_count++; + //### printf("."); } else { warnx("ubx: buffer full 0x%02x-0x%02x L%u", (unsigned)_message_class, (unsigned)_message_id, _payload_size); @@ -489,65 +505,37 @@ UBX::handle_message() break; } -#ifdef UBX_ENABLE_NAV_SVINFO case UBX_MESSAGE_NAV_SVINFO: { //printf("GOT NAV_SVINFO\n"); + if (!_enable_sat_info) { // if satellite info processing not enabled: + break; // ignore and disable NAV-SVINFO message + } const int length_part1 = 8; gps_bin_nav_svinfo_part1_packet_t *packet_part1 = (gps_bin_nav_svinfo_part1_packet_t *) _rx_buffer; const int length_part2 = 12; gps_bin_nav_svinfo_part2_packet_t *packet_part2; - uint8_t satellites_used = 0; - int i; - //printf("Number of Channels: %d\n", packet_part1->numCh); - for (i = 0; i < packet_part1->numCh; i++) { - /* set pointer to sattelite_i information */ - packet_part2 = (gps_bin_nav_svinfo_part2_packet_t *) & (_rx_buffer[length_part1 + i * length_part2]); + for (_satellite_info->count = 0; + _satellite_info->count < MIN(packet_part1->numCh, sizeof(_satellite_info->snr) / sizeof(_satellite_info->snr[0])); + _satellite_info->count++) { + /* set pointer to satellite_i information */ + packet_part2 = (gps_bin_nav_svinfo_part2_packet_t *) & (_rx_buffer[length_part1 + _satellite_info->count* length_part2]); /* write satellite information to global storage */ - uint8_t sv_used = packet_part2->flags & 0x01; - - if (sv_used) { - /* count SVs used for NAV */ - satellites_used++; - } - - /* record info for all channels, whether or not the SV is used for NAV */ - _gps_position->satellite_used[i] = sv_used; - _gps_position->satellite_snr[i] = packet_part2->cno; - _gps_position->satellite_elevation[i] = (uint8_t)(packet_part2->elev); - _gps_position->satellite_azimuth[i] = (uint8_t)((float)packet_part2->azim * 255.0f / 360.0f); - _gps_position->satellite_prn[i] = packet_part2->svid; - //printf("SAT %d: %d %d %d %d\n", i, (int)sv_used, (int)packet_part2->cno, (int)(uint8_t)(packet_part2->elev), (int)packet_part2->svid); + _satellite_info->used[_satellite_info->count] = packet_part2->flags & 0x01; + _satellite_info->snr[_satellite_info->count] = packet_part2->cno; + _satellite_info->elevation[_satellite_info->count] = (uint8_t)(packet_part2->elev); + _satellite_info->azimuth[_satellite_info->count] = (uint8_t)((float)packet_part2->azim * 255.0f / 360.0f); + _satellite_info->svid[_satellite_info->count] = packet_part2->svid; + //printf("SAT %d: %d %d %d %d\n", _satellite_info->count, (int)sv_used, (int)packet_part2->cno, (int)(uint8_t)(packet_part2->elev), (int)packet_part2->svid); } - for (i = packet_part1->numCh; i < 20; i++) { - /* unused channels have to be set to zero for e.g. MAVLink */ - _gps_position->satellite_prn[i] = 0; - _gps_position->satellite_used[i] = 0; - _gps_position->satellite_snr[i] = 0; - _gps_position->satellite_elevation[i] = 0; - _gps_position->satellite_azimuth[i] = 0; - } + _satellite_info->timestamp = hrt_absolute_time(); - /* Note: _gps_position->satellites_visible is taken from NAV-SOL now. */ - /* _gps_position->satellites_visible = satellites_used; */ // visible ~= used but we are interested in the used ones - /* TODO: satellites_used may be written into a new field after sat monitoring data got separated from _gps_position */ - - if (packet_part1->numCh > 0) { - _gps_position->satellite_info_available = true; - - } else { - _gps_position->satellite_info_available = false; - } - - _gps_position->timestamp_satellites = hrt_absolute_time(); - - ret = 1; + ret = 2; break; } -#endif /* #ifdef UBX_ENABLE_NAV_SVINFO */ case UBX_MESSAGE_NAV_VELNED: { // printf("GOT NAV_VELNED\n"); @@ -650,7 +638,6 @@ UBX::handle_message() warnx("ubx: not acknowledged"); /* configuration obviously not successful */ _waiting_for_ack = false; - ret = -1; break; } diff --git a/src/drivers/gps/ubx.h b/src/drivers/gps/ubx.h index b844c315ee..90aeffedc3 100644 --- a/src/drivers/gps/ubx.h +++ b/src/drivers/gps/ubx.h @@ -48,9 +48,7 @@ #include "gps_helper.h" -/* TODO: processing of NAV_SVINFO disabled, has to be re-written as an optional feature */ -/* TODO: make this a command line option, allocate buffer dynamically */ -#undef UBX_ENABLE_NAV_SVINFO +#define UBX_ENABLE_NAV_SVINFO 1 /* TODO: make this a command line option, allocate buffer(s) dynamically */ #define UBX_SYNC1 0xB5 #define UBX_SYNC2 0x62 @@ -378,7 +376,7 @@ typedef enum { /* calculate parser rx buffer size dependent on NAV_SVINFO enabled or not */ /* TODO: make this a command line option, allocate buffer dynamically */ #define RECV_BUFFER_OVERHEAD 10 // add this to the maximum Rx msg payload size to account for msg overhead */ -#ifdef UBX_ENABLE_NAV_SVINFO +#if (UBX_ENABLE_NAV_SVINFO != 0) #define RECV_BUFFER_SIZE (UBX_NAV_SVINFO_RX_PAYLOAD_SIZE + RECV_BUFFER_OVERHEAD) #else #define RECV_BUFFER_SIZE (UBX_MAX_RX_PAYLOAD_SIZE + RECV_BUFFER_OVERHEAD) @@ -387,7 +385,7 @@ typedef enum { class UBX : public GPS_Helper { public: - UBX(const int &fd, struct vehicle_gps_position_s *gps_position); + UBX(const int &fd, struct vehicle_gps_position_s *gps_position, struct satellite_info_s *satellite_info, const bool &enable_sat_info); ~UBX(); int receive(unsigned timeout); int configure(unsigned &baudrate); @@ -434,6 +432,8 @@ private: int _fd; struct vehicle_gps_position_s *_gps_position; + struct satellite_info_s *_satellite_info; + bool _enable_sat_info; bool _configured; bool _waiting_for_ack; uint8_t _message_class_needed; diff --git a/src/modules/uORB/topics/satellite_info.h b/src/modules/uORB/topics/satellite_info.h index 5f799eda47..37c2faa962 100644 --- a/src/modules/uORB/topics/satellite_info.h +++ b/src/modules/uORB/topics/satellite_info.h @@ -53,14 +53,17 @@ /** * GNSS Satellite Info. */ + +#define SAT_INFO_MAX_SATELLITES 20 + struct satellite_info_s { - uint64_t timestamp; /**< Timestamp of satellite information */ - uint8_t count; /**< Number of satellites in satellite_...[] arrays */ - uint8_t svid[20]; /**< Space vehicle ID [1..255], see scheme below */ - uint8_t used[20]; /**< 0: Satellite not used, 1: used for navigation */ - uint8_t elevation[20]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */ - uint8_t azimuth[20]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */ - uint8_t snr[20]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. */ + uint64_t timestamp; /**< Timestamp of satellite info */ + uint8_t count; /**< Number of satellites in satellite info */ + uint8_t svid[SAT_INFO_MAX_SATELLITES]; /**< Space vehicle ID [1..255], see scheme below */ + uint8_t used[SAT_INFO_MAX_SATELLITES]; /**< 0: Satellite not used, 1: used for navigation */ + uint8_t elevation[SAT_INFO_MAX_SATELLITES]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */ + uint8_t azimuth[SAT_INFO_MAX_SATELLITES]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */ + uint8_t snr[SAT_INFO_MAX_SATELLITES]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. */ }; /** From 018eeeecad748959a8afa4845a536e897a57249d Mon Sep 17 00:00:00 2001 From: Kynos Date: Sun, 8 Jun 2014 15:56:42 +0200 Subject: [PATCH 15/67] Merged ubx driver part of pull request #1031 --- src/drivers/gps/ubx.cpp | 15 +++++++++++---- src/drivers/gps/ubx.h | 2 ++ 2 files changed, 13 insertions(+), 4 deletions(-) diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp index dd47572b40..0708e23b47 100644 --- a/src/drivers/gps/ubx.cpp +++ b/src/drivers/gps/ubx.cpp @@ -74,6 +74,8 @@ UBX::UBX(const int &fd, struct vehicle_gps_position_s *gps_position, struct sate _enable_sat_info(enable_sat_info), _configured(false), _waiting_for_ack(false), + _got_posllh(false), + _got_velned(false), _disable_cmd_last(0) { decode_init(); @@ -208,7 +210,7 @@ UBX::configure(unsigned &baudrate) return 1; } - configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_TIMEUTC, 1); + configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_TIMEUTC, 5); if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) { warnx("MSG CFG FAIL: NAV TIMEUTC"); @@ -286,9 +288,10 @@ UBX::receive(unsigned timeout) int handled = 0; while (true) { + bool ready_to_return = _configured ? (_got_posllh && _got_velned) : handled; /* poll for new data, wait for only UBX_PACKET_TIMEOUT (2ms) if something already received */ - int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), handled ? UBX_PACKET_TIMEOUT : timeout); + int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), ready_to_return ? UBX_PACKET_TIMEOUT : timeout); if (ret < 0) { /* something went wrong when polling */ @@ -297,7 +300,9 @@ UBX::receive(unsigned timeout) } else if (ret == 0) { /* return success after short delay after receiving a packet or timeout after long delay */ - if (handled) { + if (ready_to_return) { + _got_posllh = false; + _got_velned = false; return handled; } else { @@ -456,7 +461,8 @@ UBX::handle_message() _rate_count_lat_lon++; - ret = 1; + _got_posllh = true; + ret = 1; break; } @@ -552,6 +558,7 @@ UBX::handle_message() _rate_count_vel++; + _got_velned = true; ret = 1; break; } diff --git a/src/drivers/gps/ubx.h b/src/drivers/gps/ubx.h index 90aeffedc3..50df3ada28 100644 --- a/src/drivers/gps/ubx.h +++ b/src/drivers/gps/ubx.h @@ -436,6 +436,8 @@ private: bool _enable_sat_info; bool _configured; bool _waiting_for_ack; + bool _got_posllh; + bool _got_velned; uint8_t _message_class_needed; uint8_t _message_id_needed; ubx_decode_state_t _decode_state; From 3538773b99d4231bf8a64e9c257cfe0299a93021 Mon Sep 17 00:00:00 2001 From: Kynos Date: Sun, 8 Jun 2014 16:05:04 +0200 Subject: [PATCH 16/67] Initialize rate values Initialize rate values (else invalid rates wil be displayed during the first measurement interval). --- src/drivers/gps/gps_helper.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/drivers/gps/gps_helper.h b/src/drivers/gps/gps_helper.h index d14a95afeb..3623397b2d 100644 --- a/src/drivers/gps/gps_helper.h +++ b/src/drivers/gps/gps_helper.h @@ -62,8 +62,8 @@ protected: uint8_t _rate_count_lat_lon; uint8_t _rate_count_vel; - float _rate_lat_lon; - float _rate_vel; + float _rate_lat_lon = 0.0f; + float _rate_vel = 0.0f; uint64_t _interval_rate_start; }; From 07458b284d4cea48bc3b6e0cb5dcaba1c2c1d4d6 Mon Sep 17 00:00:00 2001 From: Kynos Date: Sun, 8 Jun 2014 17:54:50 +0200 Subject: [PATCH 17/67] Gps driver: make enable_sat_info a command line option --- src/drivers/gps/gps.cpp | 28 +++++++++++++++++++--------- 1 file changed, 19 insertions(+), 9 deletions(-) diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index d8e2bd797e..f4d2f4b449 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -83,7 +83,7 @@ static const int ERROR = -1; class GPS : public device::CDev { public: - GPS(const char *uart_path, bool fake_gps); + GPS(const char *uart_path, bool fake_gps, bool enable_sat_info); virtual ~GPS(); virtual int init(); @@ -113,6 +113,7 @@ private: orb_advert_t _report_sat_info_pub; ///< uORB pub for satellite info float _rate; ///< position update rate bool _fake_gps; ///< fake gps output + bool _enable_sat_info; ///< enable sat info /** @@ -157,7 +158,7 @@ GPS *g_dev; } -GPS::GPS(const char *uart_path, bool fake_gps) : +GPS::GPS(const char *uart_path, bool fake_gps, bool enable_sat_info) : CDev("gps", GPS_DEVICE_PATH), _task_should_exit(false), _healthy(false), @@ -167,7 +168,8 @@ GPS::GPS(const char *uart_path, bool fake_gps) : _report_gps_pos_pub(-1), _report_sat_info_pub(-1), _rate(0.0f), - _fake_gps(fake_gps) + _fake_gps(fake_gps), + _enable_sat_info(enable_sat_info) { /* store port name */ strncpy(_port, uart_path, sizeof(_port)); @@ -318,7 +320,7 @@ GPS::task_main() switch (_mode) { case GPS_DRIVER_MODE_UBX: - _Helper = new UBX(_serial_fd, &_report_gps_pos, &_report_sat_info, UBX_ENABLE_NAV_SVINFO); + _Helper = new UBX(_serial_fd, &_report_gps_pos, &_report_sat_info, _enable_sat_info); break; case GPS_DRIVER_MODE_MTK: @@ -464,6 +466,7 @@ GPS::print_info() } warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_healthy) ? "OK" : "NOT OK"); + warnx("sat info: %s", (_enable_sat_info) ? "enabled" : "disabled"); if (_report_gps_pos.timestamp_position != 0) { warnx("position lock: %dD, satellites: %d, last update: %8.4fms ago", (int)_report_gps_pos.fix_type, @@ -487,7 +490,7 @@ namespace gps GPS *g_dev; -void start(const char *uart_path, bool fake_gps); +void start(const char *uart_path, bool fake_gps, bool enable_sat_info); void stop(); void test(); void reset(); @@ -497,7 +500,7 @@ void info(); * Start the driver. */ void -start(const char *uart_path, bool fake_gps) +start(const char *uart_path, bool fake_gps, bool enable_sat_info) { int fd; @@ -505,7 +508,7 @@ start(const char *uart_path, bool fake_gps) errx(1, "already started"); /* create the driver */ - g_dev = new GPS(uart_path, fake_gps); + g_dev = new GPS(uart_path, fake_gps, enable_sat_info); if (g_dev == nullptr) goto fail; @@ -598,6 +601,7 @@ gps_main(int argc, char *argv[]) /* set to default */ const char *device_name = GPS_DEFAULT_UART_PORT; bool fake_gps = false; + bool enable_sat_info = false; /* * Start/load the driver. @@ -619,7 +623,13 @@ gps_main(int argc, char *argv[]) fake_gps = true; } - gps::start(device_name, fake_gps); + /* Detect sat info option */ + for (int i = 2; i < argc; i++) { + if (!strcmp(argv[i], "-s")) + enable_sat_info = true; + } + + gps::start(device_name, fake_gps, enable_sat_info); } if (!strcmp(argv[1], "stop")) @@ -644,5 +654,5 @@ gps_main(int argc, char *argv[]) gps::info(); out: - errx(1, "unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status' [-d /dev/ttyS0-n][-f]"); + errx(1, "unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status' [-d /dev/ttyS0-n][-f][-s]"); } From b6b3ad6e1e31503d230ad6e7bc8f2d7b5b596ad7 Mon Sep 17 00:00:00 2001 From: Kynos Date: Fri, 13 Jun 2014 14:05:47 +0200 Subject: [PATCH 18/67] U-blox driver rework,, step 4 Config phase and parser rewrite --- src/drivers/gps/gps.cpp | 41 +- src/drivers/gps/ubx.cpp | 949 +++++++++++++++++++++------------------- src/drivers/gps/ubx.h | 634 ++++++++++++++------------- 3 files changed, 858 insertions(+), 766 deletions(-) diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index f4d2f4b449..6ae3252974 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -80,6 +80,14 @@ #endif static const int ERROR = -1; +/* class for dynamic allocation of satellite info data */ +class GPS_Sat_Info +{ +public: + struct satellite_info_s _data; +}; + + class GPS : public device::CDev { public: @@ -103,17 +111,17 @@ private: char _port[20]; ///< device / serial port path volatile int _task; //< worker task bool _healthy; ///< flag to signal if the GPS is ok - bool _baudrate_changed; ///< flag to signal that the baudrate with the GPS has changed + bool _baudrate_changed; ///< flag to signal that the baudrate with the GPS has changed bool _mode_changed; ///< flag that the GPS mode has changed gps_driver_mode_t _mode; ///< current mode GPS_Helper *_Helper; ///< instance of GPS parser - struct vehicle_gps_position_s _report_gps_pos; ///< uORB topic for gps position + GPS_Sat_Info *_Sat_Info; ///< instance of GPS sat info data object + struct vehicle_gps_position_s _report_gps_pos; ///< uORB topic for gps position orb_advert_t _report_gps_pos_pub; ///< uORB pub for gps position - struct satellite_info_s _report_sat_info; ///< uORB topic for satellite info + struct satellite_info_s *_p_report_sat_info; ///< pointer to uORB topic for satellite info orb_advert_t _report_sat_info_pub; ///< uORB pub for satellite info float _rate; ///< position update rate bool _fake_gps; ///< fake gps output - bool _enable_sat_info; ///< enable sat info /** @@ -165,11 +173,12 @@ GPS::GPS(const char *uart_path, bool fake_gps, bool enable_sat_info) : _mode_changed(false), _mode(GPS_DRIVER_MODE_UBX), _Helper(nullptr), + _Sat_Info(nullptr), _report_gps_pos_pub(-1), + _p_report_sat_info(nullptr), _report_sat_info_pub(-1), _rate(0.0f), - _fake_gps(fake_gps), - _enable_sat_info(enable_sat_info) + _fake_gps(fake_gps) { /* store port name */ strncpy(_port, uart_path, sizeof(_port)); @@ -179,7 +188,13 @@ GPS::GPS(const char *uart_path, bool fake_gps, bool enable_sat_info) : /* we need this potentially before it could be set in task_main */ g_dev = this; memset(&_report_gps_pos, 0, sizeof(_report_gps_pos)); - memset(&_report_sat_info, 0, sizeof(_report_sat_info)); + + /* create satellite info data object if requested */ + if (enable_sat_info) { + _Sat_Info = new(GPS_Sat_Info); + _p_report_sat_info = &_Sat_Info->_data; + memset(_p_report_sat_info, 0, sizeof(*_p_report_sat_info)); + } _debug_enabled = true; } @@ -214,7 +229,7 @@ GPS::init() /* start the GPS driver worker task */ _task = task_spawn_cmd("gps", SCHED_DEFAULT, - SCHED_PRIORITY_SLOW_DRIVER, 2000, (main_t)&GPS::task_main_trampoline, nullptr); + SCHED_PRIORITY_SLOW_DRIVER, 1500, (main_t)&GPS::task_main_trampoline, nullptr); if (_task < 0) { warnx("task start failed: %d", errno); @@ -320,7 +335,7 @@ GPS::task_main() switch (_mode) { case GPS_DRIVER_MODE_UBX: - _Helper = new UBX(_serial_fd, &_report_gps_pos, &_report_sat_info, _enable_sat_info); + _Helper = new UBX(_serial_fd, &_report_gps_pos, _p_report_sat_info); break; case GPS_DRIVER_MODE_MTK: @@ -353,12 +368,12 @@ GPS::task_main() _report_gps_pos_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report_gps_pos); } } - if (helper_ret & 2) { + if (_p_report_sat_info && (helper_ret & 2)) { if (_report_sat_info_pub > 0) { - orb_publish(ORB_ID(satellite_info), _report_sat_info_pub, &_report_sat_info); + orb_publish(ORB_ID(satellite_info), _report_sat_info_pub, _p_report_sat_info); } else { - _report_sat_info_pub = orb_advertise(ORB_ID(satellite_info), &_report_sat_info); + _report_sat_info_pub = orb_advertise(ORB_ID(satellite_info), _p_report_sat_info); } } } @@ -466,7 +481,7 @@ GPS::print_info() } warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_healthy) ? "OK" : "NOT OK"); - warnx("sat info: %s", (_enable_sat_info) ? "enabled" : "disabled"); + warnx("sat info: %s", (_p_report_sat_info != nullptr) ? "enabled" : "disabled"); if (_report_gps_pos.timestamp_position != 0) { warnx("position lock: %dD, satellites: %d, last update: %8.4fms ago", (int)_report_gps_pos.fix_type, diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp index 0708e23b47..1783ae0f75 100644 --- a/src/drivers/gps/ubx.cpp +++ b/src/drivers/gps/ubx.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2012, 2013, 2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -34,14 +34,18 @@ /** * @file ubx.cpp * - * U-Blox protocol implementation. Following u-blox 6/7 Receiver Description + * U-Blox protocol implementation. Following u-blox 6/7/8 Receiver Description * including Prototol Specification. * * @author Thomas Gubler * @author Julian Oes * @author Anton Babushkin * + * @author Hannes Delago + * (rework, add ubx7+ compatibility) + * * @see http://www.u-blox.com/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf + * @see http://www.u-blox.com/images/downloads/Product_Docs/u-bloxM8-V15_ReceiverDescriptionProtocolSpec_Public_%28UBX-13003221%29.pdf */ #include @@ -65,18 +69,28 @@ #define UBX_WAIT_BEFORE_READ 20 // ms, wait before reading to save read() calls #define DISABLE_MSG_INTERVAL 1000000 // us, try to disable message with this interval -#define MIN(X,Y) ((X) < (Y) ? (X) : (Y)) +#define MIN(X,Y) ((X) < (Y) ? (X) : (Y)) +#define SWAP16(X) ((((X) >> 8) & 0x00ff) | (((X) << 8) & 0xff00)) -UBX::UBX(const int &fd, struct vehicle_gps_position_s *gps_position, struct satellite_info_s *satellite_info, const bool &enable_sat_info) : +/**** Trace macros, disable for production builds */ +#define UBX_TRACE_PARSER(s, ...) {/*printf(s, ## __VA_ARGS__);*/} /* decoding progress in parse_char() */ +#define UBX_TRACE_RXMSG(s, ...) {/*printf(s, ## __VA_ARGS__);*/} /* Rx msgs in payload_rx_done() */ +#define UBX_TRACE_SVINFO(s, ...) {/*printf(s, ## __VA_ARGS__);*/} /* NAV-SVINFO processing (debug use only, will cause rx buffer overflows) */ + +/**** Warning macros, disable to save memory */ +#define UBX_WARN(s, ...) {warnx(s, ## __VA_ARGS__);} + + +UBX::UBX(const int &fd, struct vehicle_gps_position_s *gps_position, struct satellite_info_s *satellite_info) : _fd(fd), _gps_position(gps_position), _satellite_info(satellite_info), - _enable_sat_info(enable_sat_info), _configured(false), - _waiting_for_ack(false), + _ack_state(UBX_ACK_IDLE), _got_posllh(false), _got_velned(false), - _disable_cmd_last(0) + _disable_cmd_last(0), + _ack_waiting_msg(0) { decode_init(); } @@ -100,55 +114,41 @@ UBX::configure(unsigned &baudrate) /* flush input and wait for at least 20 ms silence */ decode_init(); - wait_for_ack(20); + receive(20); decode_init(); /* Send a CFG-PRT message to set the UBX protocol for in and out - * and leave the baudrate as it is, we just want an ACK-ACK from this - */ - type_gps_bin_cfg_prt_packet_t cfg_prt_packet; - /* Set everything else of the packet to 0, otherwise the module wont accept it */ - memset(&cfg_prt_packet, 0, sizeof(cfg_prt_packet)); + * and leave the baudrate as it is, we just want an ACK-ACK for this */ + memset(&_buf.payload_tx_cfg_prt, 0, sizeof(_buf.payload_tx_cfg_prt)); + _buf.payload_tx_cfg_prt.portID = UBX_TX_CFG_PRT_PORTID; + _buf.payload_tx_cfg_prt.mode = UBX_TX_CFG_PRT_MODE; + _buf.payload_tx_cfg_prt.baudRate = baudrate; + _buf.payload_tx_cfg_prt.inProtoMask = UBX_TX_CFG_PRT_INPROTOMASK; + _buf.payload_tx_cfg_prt.outProtoMask = UBX_TX_CFG_PRT_OUTPROTOMASK; - _message_class_needed = UBX_CLASS_CFG; - _message_id_needed = UBX_MESSAGE_CFG_PRT; + send_message(UBX_MSG_CFG_PRT, _buf.raw, sizeof(_buf.payload_tx_cfg_prt)); - /* Define the package contents, don't change the baudrate */ - cfg_prt_packet.clsID = UBX_CLASS_CFG; - cfg_prt_packet.msgID = UBX_MESSAGE_CFG_PRT; - cfg_prt_packet.length = UBX_CFG_PRT_LENGTH; - cfg_prt_packet.portID = UBX_CFG_PRT_PAYLOAD_PORTID; - cfg_prt_packet.mode = UBX_CFG_PRT_PAYLOAD_MODE; - cfg_prt_packet.baudRate = baudrate; - cfg_prt_packet.inProtoMask = UBX_CFG_PRT_PAYLOAD_INPROTOMASK; - cfg_prt_packet.outProtoMask = UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK; - - send_config_packet(_fd, (uint8_t *)&cfg_prt_packet, sizeof(cfg_prt_packet)); - - if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) { + if (wait_for_ack(UBX_MSG_CFG_PRT, UBX_CONFIG_TIMEOUT, false) < 0) { /* try next baudrate */ continue; } /* Send a CFG-PRT message again, this time change the baudrate */ + memset(&_buf.payload_tx_cfg_prt, 0, sizeof(_buf.payload_tx_cfg_prt)); + _buf.payload_tx_cfg_prt.portID = UBX_TX_CFG_PRT_PORTID; + _buf.payload_tx_cfg_prt.mode = UBX_TX_CFG_PRT_MODE; + _buf.payload_tx_cfg_prt.baudRate = UBX_TX_CFG_PRT_BAUDRATE; + _buf.payload_tx_cfg_prt.inProtoMask = UBX_TX_CFG_PRT_INPROTOMASK; + _buf.payload_tx_cfg_prt.outProtoMask = UBX_TX_CFG_PRT_OUTPROTOMASK; - cfg_prt_packet.clsID = UBX_CLASS_CFG; - cfg_prt_packet.msgID = UBX_MESSAGE_CFG_PRT; - cfg_prt_packet.length = UBX_CFG_PRT_LENGTH; - cfg_prt_packet.portID = UBX_CFG_PRT_PAYLOAD_PORTID; - cfg_prt_packet.mode = UBX_CFG_PRT_PAYLOAD_MODE; - cfg_prt_packet.baudRate = UBX_CFG_PRT_PAYLOAD_BAUDRATE; - cfg_prt_packet.inProtoMask = UBX_CFG_PRT_PAYLOAD_INPROTOMASK; - cfg_prt_packet.outProtoMask = UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK; - - send_config_packet(_fd, (uint8_t *)&cfg_prt_packet, sizeof(cfg_prt_packet)); + send_message(UBX_MSG_CFG_PRT, _buf.raw, sizeof(_buf.payload_tx_cfg_prt)); /* no ACK is expected here, but read the buffer anyway in case we actually get an ACK */ - wait_for_ack(UBX_CONFIG_TIMEOUT); + wait_for_ack(UBX_MSG_CFG_PRT, UBX_CONFIG_TIMEOUT, false); - if (UBX_CFG_PRT_PAYLOAD_BAUDRATE != baudrate) { - set_baudrate(_fd, UBX_CFG_PRT_PAYLOAD_BAUDRATE); - baudrate = UBX_CFG_PRT_PAYLOAD_BAUDRATE; + if (UBX_TX_CFG_PRT_BAUDRATE != baudrate) { + set_baudrate(_fd, UBX_TX_CFG_PRT_BAUDRATE); + baudrate = UBX_TX_CFG_PRT_BAUDRATE; } /* at this point we have correct baudrate on both ends */ @@ -156,94 +156,68 @@ UBX::configure(unsigned &baudrate) } if (baud_i >= sizeof(baudrates) / sizeof(baudrates[0])) { - return 1; + return 1; // connection and/or baudrate detection failed } - /* send a CFG-RATE message to define update rate */ - type_gps_bin_cfg_rate_packet_t cfg_rate_packet; - memset(&cfg_rate_packet, 0, sizeof(cfg_rate_packet)); + /* Send a CFG-RATE message to define update rate */ + memset(&_buf.payload_tx_cfg_rate, 0, sizeof(_buf.payload_tx_cfg_rate)); + _buf.payload_tx_cfg_rate.measRate = UBX_TX_CFG_RATE_MEASINTERVAL; + _buf.payload_tx_cfg_rate.navRate = UBX_TX_CFG_RATE_NAVRATE; + _buf.payload_tx_cfg_rate.timeRef = UBX_TX_CFG_RATE_TIMEREF; - _message_class_needed = UBX_CLASS_CFG; - _message_id_needed = UBX_MESSAGE_CFG_RATE; + send_message(UBX_MSG_CFG_RATE, _buf.raw, sizeof(_buf.payload_tx_cfg_rate)); - cfg_rate_packet.clsID = UBX_CLASS_CFG; - cfg_rate_packet.msgID = UBX_MESSAGE_CFG_RATE; - cfg_rate_packet.length = UBX_CFG_RATE_LENGTH; - cfg_rate_packet.measRate = UBX_CFG_RATE_PAYLOAD_MEASINTERVAL; - cfg_rate_packet.navRate = UBX_CFG_RATE_PAYLOAD_NAVRATE; - cfg_rate_packet.timeRef = UBX_CFG_RATE_PAYLOAD_TIMEREF; - - send_config_packet(_fd, (uint8_t *)&cfg_rate_packet, sizeof(cfg_rate_packet)); - - if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) { - warnx("CFG FAIL: RATE"); + if (wait_for_ack(UBX_MSG_CFG_RATE, UBX_CONFIG_TIMEOUT, true) < 0) { return 1; } /* send a NAV5 message to set the options for the internal filter */ - type_gps_bin_cfg_nav5_packet_t cfg_nav5_packet; - memset(&cfg_nav5_packet, 0, sizeof(cfg_nav5_packet)); + memset(&_buf.payload_tx_cfg_nav5, 0, sizeof(_buf.payload_tx_cfg_nav5)); + _buf.payload_tx_cfg_nav5.mask = UBX_TX_CFG_NAV5_MASK; + _buf.payload_tx_cfg_nav5.dynModel = UBX_TX_CFG_NAV5_DYNMODEL; + _buf.payload_tx_cfg_nav5.fixMode = UBX_TX_CFG_NAV5_FIXMODE; - _message_class_needed = UBX_CLASS_CFG; - _message_id_needed = UBX_MESSAGE_CFG_NAV5; + send_message(UBX_MSG_CFG_NAV5, _buf.raw, sizeof(_buf.payload_tx_cfg_nav5)); - cfg_nav5_packet.clsID = UBX_CLASS_CFG; - cfg_nav5_packet.msgID = UBX_MESSAGE_CFG_NAV5; - cfg_nav5_packet.length = UBX_CFG_NAV5_LENGTH; - cfg_nav5_packet.mask = UBX_CFG_NAV5_PAYLOAD_MASK; - cfg_nav5_packet.dynModel = UBX_CFG_NAV5_PAYLOAD_DYNMODEL; - cfg_nav5_packet.fixMode = UBX_CFG_NAV5_PAYLOAD_FIXMODE; - - send_config_packet(_fd, (uint8_t *)&cfg_nav5_packet, sizeof(cfg_nav5_packet)); - - if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) { - warnx("CFG FAIL: NAV5"); + if (wait_for_ack(UBX_MSG_CFG_NAV5, UBX_CONFIG_TIMEOUT, true) < 0) { return 1; } /* configure message rates */ /* the last argument is divisor for measurement rate (set by CFG RATE), i.e. 1 means 5Hz */ - configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_POSLLH, 1); + configure_message_rate(UBX_MSG_NAV_POSLLH, 1); - if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) { - warnx("MSG CFG FAIL: NAV POSLLH"); + if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) { return 1; } - configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_TIMEUTC, 5); + configure_message_rate(UBX_MSG_NAV_TIMEUTC, 5); - if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) { - warnx("MSG CFG FAIL: NAV TIMEUTC"); + if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) { return 1; } - configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_SOL, 1); + configure_message_rate(UBX_MSG_NAV_SOL, 1); - if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) { - warnx("MSG CFG FAIL: NAV SOL"); + if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) { return 1; } - configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_VELNED, 1); + configure_message_rate(UBX_MSG_NAV_VELNED, 1); - if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) { - warnx("MSG CFG FAIL: NAV VELNED"); + if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) { return 1; } - if (_enable_sat_info) { - configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_SVINFO, 5); + configure_message_rate(UBX_MSG_NAV_SVINFO, (_satellite_info != nullptr) ? 5 : 0); - if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) { - warnx("MSG CFG FAIL: NAV SVINFO"); - return 1; - } + if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) { + return 1; } - configure_message_rate(UBX_CLASS_MON, UBX_MESSAGE_MON_HW, 1); + configure_message_rate(UBX_MSG_MON_HW, 1); - if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) { - warnx("MSG CFG FAIL: MON HW"); + if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) { return 1; } @@ -251,27 +225,36 @@ UBX::configure(unsigned &baudrate) return 0; } -int -UBX::wait_for_ack(unsigned timeout) +int // -1 = NAK, error or timeout, 0 = ACK +UBX::wait_for_ack(const uint16_t msg, const unsigned timeout, const bool report) { - _waiting_for_ack = true; - uint64_t time_end = hrt_absolute_time() + timeout * 1000; + int ret = -1; - while ((timeout = (time_end - hrt_absolute_time()) / 1000) > 0) { - if (receive(timeout) > 0) { - if (!_waiting_for_ack) { - return 1; - } + _ack_state = UBX_ACK_WAITING; + _ack_waiting_msg = msg; // memorize sent msg class&ID for ACK check + + hrt_abstime time_started = hrt_absolute_time(); + + while ((_ack_state == UBX_ACK_WAITING) && (hrt_absolute_time() < time_started + timeout * 1000)) { + receive(timeout); + } + + if (_ack_state == UBX_ACK_GOT_ACK) { + ret = 0; // ACK received ok + } else if (report) { + if (_ack_state == UBX_ACK_GOT_NAK) { + UBX_WARN("ubx msg 0x%04x NAK", SWAP16((unsigned)msg)); } else { - return -1; // timeout or error receiving, or NAK + UBX_WARN("ubx msg 0x%04x ACK timeout", SWAP16((unsigned)msg)); } } - return -1; // timeout + _ack_state = UBX_ACK_IDLE; + return ret; } -int -UBX::receive(unsigned timeout) +int // -1 = error, 0 = no message handled, 1 = message handled, 2 = sat info message handled +UBX::receive(const unsigned timeout) { /* poll descriptor */ pollfd fds[1]; @@ -295,7 +278,7 @@ UBX::receive(unsigned timeout) if (ret < 0) { /* something went wrong when polling */ - warnx("poll error"); + UBX_WARN("ubx poll() err"); return -1; } else if (ret == 0) { @@ -323,433 +306,517 @@ UBX::receive(unsigned timeout) /* pass received bytes to the packet decoder */ for (int i = 0; i < count; i++) { - if (parse_char(buf[i]) > 0) { - handled |= handle_message(); - } + handled |= parse_char(buf[i]); } } } /* abort after timeout if no useful packets received */ if (time_started + timeout * 1000 < hrt_absolute_time()) { - warnx("timeout - no useful messages"); return -1; } } } -int -UBX::parse_char(uint8_t b) +int // 0 = decoding, 1 = message handled, 2 = sat info message handled +UBX::parse_char(const uint8_t b) { + int ret = 0; + switch (_decode_state) { - /* First, look for sync1 */ - case UBX_DECODE_UNINIT: - if (b == UBX_SYNC1) { - _decode_state = UBX_DECODE_GOT_SYNC1; - //### printf("\nA"); - } + /* Expecting Sync1 */ + case UBX_DECODE_SYNC1: + if (b == UBX_SYNC1) { // Sync1 found --> expecting Sync2 + UBX_TRACE_PARSER("\nA"); + _decode_state = UBX_DECODE_SYNC2; + } break; - /* Second, look for sync2 */ - case UBX_DECODE_GOT_SYNC1: - if (b == UBX_SYNC2) { - _decode_state = UBX_DECODE_GOT_SYNC2; - //### printf("B"); + /* Expecting Sync2 */ + case UBX_DECODE_SYNC2: + if (b == UBX_SYNC2) { // Sync2 found --> expecting Class + UBX_TRACE_PARSER("B"); + _decode_state = UBX_DECODE_CLASS; - } else { - /* Second start symbol was wrong, reset state machine */ + } else { // Sync1 not followed by Sync2: reset parser decode_init(); - /* don't return error, it can be just false sync1 */ - //### printf("-"); } - break; - /* Now look for class */ - case UBX_DECODE_GOT_SYNC2: - /* everything except sync1 and sync2 needs to be added to the checksum */ + /* Expecting Class */ + case UBX_DECODE_CLASS: + UBX_TRACE_PARSER("C"); + add_byte_to_checksum(b); // checksum is calculated for everything except Sync and Checksum bytes + _rx_msg = b; + _decode_state = UBX_DECODE_ID; + break; + + /* Expecting ID */ + case UBX_DECODE_ID: + UBX_TRACE_PARSER("D"); add_byte_to_checksum(b); - _message_class = b; - _decode_state = UBX_DECODE_GOT_CLASS; - //### printf("C"); + _rx_msg |= b << 8; + _decode_state = UBX_DECODE_LENGTH1; break; - case UBX_DECODE_GOT_CLASS: + /* Expecting first length byte */ + case UBX_DECODE_LENGTH1: + UBX_TRACE_PARSER("E"); add_byte_to_checksum(b); - _message_id = b; - _decode_state = UBX_DECODE_GOT_MESSAGEID; - //### printf("D"); + _rx_payload_length = b; + _decode_state = UBX_DECODE_LENGTH2; break; - case UBX_DECODE_GOT_MESSAGEID: + /* Expecting second length byte */ + case UBX_DECODE_LENGTH2: + UBX_TRACE_PARSER("F"); add_byte_to_checksum(b); - _payload_size = b; //this is the first length byte - _decode_state = UBX_DECODE_GOT_LENGTH1; - //### printf("E"); - break; - - case UBX_DECODE_GOT_LENGTH1: - add_byte_to_checksum(b); - _payload_size += b << 8; // here comes the second byte of length - _decode_state = UBX_DECODE_GOT_LENGTH2; - //### printf("F"); - break; - - case UBX_DECODE_GOT_LENGTH2: - - /* Add to checksum if not yet at checksum byte */ - if (_rx_count < _payload_size) - add_byte_to_checksum(b); - - _rx_buffer[_rx_count] = b; - - /* once the payload has arrived, we can process the information */ - if (_rx_count >= _payload_size + 1) { //+1 because of 2 checksum bytes - /* compare checksum */ - if (_rx_ck_a == _rx_buffer[_rx_count - 1] && _rx_ck_b == _rx_buffer[_rx_count]) { - //### printf("O\n"); - return 1; // message received successfully - - } else { - warnx("checksum wrong"); - decode_init(); - return -1; - } - - } else if (_rx_count < RECV_BUFFER_SIZE) { - _rx_count++; - //### printf("."); - - } else { - warnx("ubx: buffer full 0x%02x-0x%02x L%u", (unsigned)_message_class, (unsigned)_message_id, _payload_size); + _rx_payload_length |= b << 8; // calculate payload size + if (payload_rx_init() != 0) { // start payload reception + // payload will not be handled, discard message decode_init(); - return -1; + } else { + _decode_state = (_rx_payload_length > 0) ? UBX_DECODE_PAYLOAD : UBX_DECODE_CHKSUM1; } + break; + /* Expecting payload */ + case UBX_DECODE_PAYLOAD: + UBX_TRACE_PARSER("."); + add_byte_to_checksum(b); + if (_rx_msg != UBX_MSG_NAV_SVINFO) { + ret = payload_rx_add(b); // add a payload byte + } else { + ret = payload_rx_add_svinfo(b); // add a svinfo payload byte + } + if (ret < 0) { + // payload not handled, discard message + decode_init(); + } else if (ret > 0) { + // payload complete, expecting checksum + _decode_state = UBX_DECODE_CHKSUM1; + } else { + // expecting more payload, stay in state UBX_DECODE_PAYLOAD + } + ret = 0; + break; + + /* Expecting first checksum byte */ + case UBX_DECODE_CHKSUM1: + if (_rx_ck_a != b) { + UBX_WARN("ubx checksum err"); + decode_init(); + } else { + _decode_state = UBX_DECODE_CHKSUM2; + } + break; + + /* Expecting second checksum byte */ + case UBX_DECODE_CHKSUM2: + if (_rx_ck_b != b) { + UBX_WARN("ubx checksum err"); + } else { + ret = payload_rx_done(); // finish payload processing + } + decode_init(); break; default: break; } - return 0; // message decoding in progress + return ret; } - - -int -UBX::handle_message() +/** + * Start payload rx + */ +int // -1 = abort, 0 = continue +UBX::payload_rx_init() { int ret = 0; - if (_configured) { - /* handle only info messages when configured */ - switch (_message_class) { - case UBX_CLASS_NAV: - switch (_message_id) { - case UBX_MESSAGE_NAV_POSLLH: { - // printf("GOT NAV_POSLLH\n"); - gps_bin_nav_posllh_packet_t *packet = (gps_bin_nav_posllh_packet_t *) _rx_buffer; + _rx_state = UBX_RXMSG_HANDLE; // handle by default - _gps_position->lat = packet->lat; - _gps_position->lon = packet->lon; - _gps_position->alt = packet->height_msl; - _gps_position->eph_m = (float)packet->hAcc * 1e-3f; // from mm to m - _gps_position->epv_m = (float)packet->vAcc * 1e-3f; // from mm to m - _gps_position->timestamp_position = hrt_absolute_time(); + switch (_rx_msg) { + case UBX_MSG_NAV_POSLLH: + if (_rx_payload_length != sizeof(ubx_payload_rx_nav_posllh_t)) + _rx_state = UBX_RXMSG_ERROR_LENGTH; + else if (!_configured) + _rx_state = UBX_RXMSG_IGNORE; // ignore if not _configured + break; - _rate_count_lat_lon++; + case UBX_MSG_NAV_SOL: + if (_rx_payload_length != sizeof(ubx_payload_rx_nav_sol_t)) + _rx_state = UBX_RXMSG_ERROR_LENGTH; + else if (!_configured) + _rx_state = UBX_RXMSG_IGNORE; // ignore if not _configured + break; - _got_posllh = true; - ret = 1; - break; - } + case UBX_MSG_NAV_TIMEUTC: + if (_rx_payload_length != sizeof(ubx_payload_rx_nav_timeutc_t)) + _rx_state = UBX_RXMSG_ERROR_LENGTH; + else if (!_configured) + _rx_state = UBX_RXMSG_IGNORE; // ignore if not _configured + break; - case UBX_MESSAGE_NAV_SOL: { - // printf("GOT NAV_SOL\n"); - gps_bin_nav_sol_packet_t *packet = (gps_bin_nav_sol_packet_t *) _rx_buffer; + case UBX_MSG_NAV_SVINFO: + if (_satellite_info == nullptr) + _rx_state = UBX_RXMSG_DISABLE; // disable if sat info not requested + else if (!_configured) + _rx_state = UBX_RXMSG_IGNORE; // ignore if not _configured + else + memset(_satellite_info, 0, sizeof(*_satellite_info)); // initialize sat info + break; - _gps_position->fix_type = packet->gpsFix; - _gps_position->s_variance_m_s = packet->sAcc; - _gps_position->p_variance_m = packet->pAcc; - _gps_position->timestamp_variance = hrt_absolute_time(); - _gps_position->satellites_used = packet->numSV; + case UBX_MSG_NAV_VELNED: + if (_rx_payload_length != sizeof(ubx_payload_rx_nav_velned_t)) + _rx_state = UBX_RXMSG_ERROR_LENGTH; + else if (!_configured) + _rx_state = UBX_RXMSG_IGNORE; // ignore if not _configured + break; - ret = 1; - break; - } + case UBX_MSG_MON_HW: + if ( (_rx_payload_length != sizeof(ubx_payload_rx_mon_hw_ubx6_t)) /* u-blox 6 msg format */ + && (_rx_payload_length != sizeof(ubx_payload_rx_mon_hw_ubx7_t))) /* u-blox 7+ msg format */ + _rx_state = UBX_RXMSG_ERROR_LENGTH; + else if (!_configured) + _rx_state = UBX_RXMSG_IGNORE; // ignore if not _configured + break; - case UBX_MESSAGE_NAV_TIMEUTC: { - // printf("GOT NAV_TIMEUTC\n"); - gps_bin_nav_timeutc_packet_t *packet = (gps_bin_nav_timeutc_packet_t *) _rx_buffer; + case UBX_MSG_ACK_ACK: + if (_rx_payload_length != sizeof(ubx_payload_rx_ack_ack_t)) + _rx_state = UBX_RXMSG_ERROR_LENGTH; + else if (_configured) + _rx_state = UBX_RXMSG_IGNORE; // ignore if _configured + break; - /* convert to unix timestamp */ - struct tm timeinfo; - timeinfo.tm_year = packet->year - 1900; - timeinfo.tm_mon = packet->month - 1; - timeinfo.tm_mday = packet->day; - timeinfo.tm_hour = packet->hour; - timeinfo.tm_min = packet->min; - timeinfo.tm_sec = packet->sec; - time_t epoch = mktime(&timeinfo); + case UBX_MSG_ACK_NAK: + if (_rx_payload_length != sizeof(ubx_payload_rx_ack_nak_t)) + _rx_state = UBX_RXMSG_ERROR_LENGTH; + else if (_configured) + _rx_state = UBX_RXMSG_IGNORE; // ignore if _configured + break; -#ifndef CONFIG_RTC - //Since we lack a hardware RTC, set the system time clock based on GPS UTC - //TODO generalize this by moving into gps.cpp? - timespec ts; - ts.tv_sec = epoch; - ts.tv_nsec = packet->time_nanoseconds; - clock_settime(CLOCK_REALTIME, &ts); -#endif + default: + _rx_state = UBX_RXMSG_DISABLE; // disable all other messages + break; + } - _gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this - _gps_position->time_gps_usec += (uint64_t)(packet->time_nanoseconds * 1e-3f); - _gps_position->timestamp_time = hrt_absolute_time(); + switch (_rx_state) { + case UBX_RXMSG_HANDLE: // handle message + case UBX_RXMSG_IGNORE: // ignore message but don't report error + ret = 0; + break; - ret = 1; - break; - } - - case UBX_MESSAGE_NAV_SVINFO: { - //printf("GOT NAV_SVINFO\n"); - if (!_enable_sat_info) { // if satellite info processing not enabled: - break; // ignore and disable NAV-SVINFO message - } - const int length_part1 = 8; - gps_bin_nav_svinfo_part1_packet_t *packet_part1 = (gps_bin_nav_svinfo_part1_packet_t *) _rx_buffer; - const int length_part2 = 12; - gps_bin_nav_svinfo_part2_packet_t *packet_part2; - - //printf("Number of Channels: %d\n", packet_part1->numCh); - for (_satellite_info->count = 0; - _satellite_info->count < MIN(packet_part1->numCh, sizeof(_satellite_info->snr) / sizeof(_satellite_info->snr[0])); - _satellite_info->count++) { - /* set pointer to satellite_i information */ - packet_part2 = (gps_bin_nav_svinfo_part2_packet_t *) & (_rx_buffer[length_part1 + _satellite_info->count* length_part2]); - - /* write satellite information to global storage */ - _satellite_info->used[_satellite_info->count] = packet_part2->flags & 0x01; - _satellite_info->snr[_satellite_info->count] = packet_part2->cno; - _satellite_info->elevation[_satellite_info->count] = (uint8_t)(packet_part2->elev); - _satellite_info->azimuth[_satellite_info->count] = (uint8_t)((float)packet_part2->azim * 255.0f / 360.0f); - _satellite_info->svid[_satellite_info->count] = packet_part2->svid; - //printf("SAT %d: %d %d %d %d\n", _satellite_info->count, (int)sv_used, (int)packet_part2->cno, (int)(uint8_t)(packet_part2->elev), (int)packet_part2->svid); - } - - _satellite_info->timestamp = hrt_absolute_time(); - - ret = 2; - break; - } - - case UBX_MESSAGE_NAV_VELNED: { - // printf("GOT NAV_VELNED\n"); - gps_bin_nav_velned_packet_t *packet = (gps_bin_nav_velned_packet_t *) _rx_buffer; - - _gps_position->vel_m_s = (float)packet->speed * 1e-2f; - _gps_position->vel_n_m_s = (float)packet->velN * 1e-2f; /* NED NORTH velocity */ - _gps_position->vel_e_m_s = (float)packet->velE * 1e-2f; /* NED EAST velocity */ - _gps_position->vel_d_m_s = (float)packet->velD * 1e-2f; /* NED DOWN velocity */ - _gps_position->cog_rad = (float)packet->heading * M_DEG_TO_RAD_F * 1e-5f; - _gps_position->c_variance_rad = (float)packet->cAcc * M_DEG_TO_RAD_F * 1e-5f; - _gps_position->vel_ned_valid = true; - _gps_position->timestamp_velocity = hrt_absolute_time(); - - _rate_count_vel++; - - _got_velned = true; - ret = 1; - break; - } - - default: - break; - } - - break; - - case UBX_CLASS_ACK: { - /* ignore ACK when already configured */ - ret = 1; - break; - } - - case UBX_CLASS_MON: - switch (_message_id) { - - case UBX_MESSAGE_MON_HW: - switch (_payload_size) { - - case UBX_MON_HW_UBX6_RX_PAYLOAD_SIZE: /* u-blox 6 msg format */ - _gps_position->noise_per_ms = ((struct gps_bin_mon_hw_ubx6_packet*) _rx_buffer)->noisePerMS; - _gps_position->jamming_indicator = ((struct gps_bin_mon_hw_ubx6_packet*) _rx_buffer)->jamInd; - ret = 1; - break; - - case UBX_MON_HW_UBX7_RX_PAYLOAD_SIZE: /* u-blox 7+ msg format */ - _gps_position->noise_per_ms = ((struct gps_bin_mon_hw_ubx7_packet*) _rx_buffer)->noisePerMS; - _gps_position->jamming_indicator = ((struct gps_bin_mon_hw_ubx7_packet*) _rx_buffer)->jamInd; - ret = 1; - break; - - default: // unexpected payload size: - ret = 1; // ignore but don't disable msg - break; - } - break; - - default: - break; - } - break; - - default: - break; - } - - if (ret == 0) { - /* message not handled */ - warnx("ubx: message not handled: 0x%02x-0x%02x L%u", (unsigned)_message_class, (unsigned)_message_id, _payload_size); + case UBX_RXMSG_DISABLE: // disable unexpected messages + UBX_WARN("ubx msg 0x%04x len %u unexpected", SWAP16((unsigned)_rx_msg), (unsigned)_rx_payload_length); + { hrt_abstime t = hrt_absolute_time(); if (t > _disable_cmd_last + DISABLE_MSG_INTERVAL) { /* don't attempt for every message to disable, some might not be disabled */ _disable_cmd_last = t; - warnx("ubx: disabling message 0x%02x-0x%02x", (unsigned)_message_class, (unsigned)_message_id); - configure_message_rate(_message_class, _message_id, 0); + UBX_WARN("ubx disabling msg 0x%04x", SWAP16((unsigned)_rx_msg)); + configure_message_rate(_rx_msg, 0); } } + ret = -1; // return error, abort handling this message + break; + + case UBX_RXMSG_ERROR_LENGTH: // error: invalid length + UBX_WARN("ubx msg 0x%04x invalid len %u", SWAP16((unsigned)_rx_msg), (unsigned)_rx_payload_length); + ret = -1; // return error, abort handling this message + break; + + default: // invalid message state + UBX_WARN("ubx internal err1"); + ret = -1; // return error, abort handling this message + break; + } + + return ret; +} + +/** + * Add payload rx byte + */ +int // -1 = error, 0 = ok, 1 = payload completed +UBX::payload_rx_add(const uint8_t b) +{ + int ret = 0; + + _buf.raw[_rx_payload_index] = b; + + if (++_rx_payload_index >= _rx_payload_length) { + ret = 1; // payload received completely + } + + return ret; +} + +/** + * Add svinfo payload rx byte + */ +int // -1 = error, 0 = ok, 1 = payload completed +UBX::payload_rx_add_svinfo(const uint8_t b) +{ + int ret = 0; + + if (_rx_payload_index < sizeof(ubx_payload_rx_nav_svinfo_part1_t)) { + // Fill Part 1 buffer + _buf.raw[_rx_payload_index] = b; } else { - /* handle only ACK while configuring */ - if (_message_class == UBX_CLASS_ACK) { - switch (_message_id) { - case UBX_MESSAGE_ACK_ACK: { - // printf("GOT ACK_ACK\n"); - gps_bin_ack_ack_packet_t *packet = (gps_bin_ack_ack_packet_t *) _rx_buffer; - - if (_waiting_for_ack) { - if (packet->clsID == _message_class_needed && packet->msgID == _message_id_needed) { - _waiting_for_ack = false; - ret = 1; - } - } - - break; - } - - case UBX_MESSAGE_ACK_NAK: { - // printf("GOT ACK_NAK\n"); - warnx("ubx: not acknowledged"); - /* configuration obviously not successful */ - _waiting_for_ack = false; - break; - } - - default: - break; + if (_rx_payload_index == sizeof(ubx_payload_rx_nav_svinfo_part1_t)) { + // Part 1 complete: decode Part 1 buffer + _satellite_info->count = MIN(_buf.payload_rx_nav_svinfo_part1.numCh, SAT_INFO_MAX_SATELLITES); + UBX_TRACE_SVINFO("SVINFO len %u numCh %u\n", (unsigned)_rx_payload_length, (unsigned)_buf.payload_rx_nav_svinfo_part1.numCh); + } + if (_rx_payload_index < sizeof(ubx_payload_rx_nav_svinfo_part1_t) + _satellite_info->count * sizeof(ubx_payload_rx_nav_svinfo_part2_t)) { + // Still room in _satellite_info: fill Part 2 buffer + unsigned buf_index = (_rx_payload_index - sizeof(ubx_payload_rx_nav_svinfo_part1_t)) % sizeof(ubx_payload_rx_nav_svinfo_part2_t); + _buf.raw[buf_index] = b; + if (buf_index == sizeof(ubx_payload_rx_nav_svinfo_part2_t) - 1) { + // Part 2 complete: decode Part 2 buffer + unsigned sat_index = (_rx_payload_index - sizeof(ubx_payload_rx_nav_svinfo_part1_t)) / sizeof(ubx_payload_rx_nav_svinfo_part2_t); + _satellite_info->used[sat_index] = (uint8_t)(_buf.payload_rx_nav_svinfo_part2.flags & 0x01); + _satellite_info->snr[sat_index] = (uint8_t)(_buf.payload_rx_nav_svinfo_part2.cno); + _satellite_info->elevation[sat_index] = (uint8_t)(_buf.payload_rx_nav_svinfo_part2.elev); + _satellite_info->azimuth[sat_index] = (uint8_t)((float)_buf.payload_rx_nav_svinfo_part2.azim * 255.0f / 360.0f); + _satellite_info->svid[sat_index] = (uint8_t)(_buf.payload_rx_nav_svinfo_part2.svid); + UBX_TRACE_SVINFO("SVINFO #%02u used %u snr %3u elevation %3u azimuth %3u svid %3u\n", + (unsigned)sat_index + 1, + (unsigned)_satellite_info->used[sat_index], + (unsigned)_satellite_info->snr[sat_index], + (unsigned)_satellite_info->elevation[sat_index], + (unsigned)_satellite_info->azimuth[sat_index], + (unsigned)_satellite_info->svid[sat_index] + ); } } } - decode_init(); + if (++_rx_payload_index >= _rx_payload_length) { + ret = 1; // payload received completely + } + + return ret; +} + +/** + * Finish payload rx + */ +int // 0 = no message handled, 1 = message handled, 2 = sat info message handled +UBX::payload_rx_done(void) +{ + int ret = 0; + + // return if no message handled + if (_rx_state != UBX_RXMSG_HANDLE) { + return ret; + } + + // handle message + switch (_rx_msg) { + + case UBX_MSG_NAV_POSLLH: + UBX_TRACE_RXMSG("Rx NAV-POSLLH\n"); + + _gps_position->lat = _buf.payload_rx_nav_posllh.lat; + _gps_position->lon = _buf.payload_rx_nav_posllh.lon; + _gps_position->alt = _buf.payload_rx_nav_posllh.hMSL; + _gps_position->eph_m = (float)_buf.payload_rx_nav_posllh.hAcc * 1e-3f; // from mm to m + _gps_position->epv_m = (float)_buf.payload_rx_nav_posllh.vAcc * 1e-3f; // from mm to m + + _gps_position->timestamp_position = hrt_absolute_time(); + + _rate_count_lat_lon++; + _got_posllh = true; + + ret = 1; + break; + + case UBX_MSG_NAV_SOL: + UBX_TRACE_RXMSG("Rx NAV-SOL\n"); + + _gps_position->fix_type = _buf.payload_rx_nav_sol.gpsFix; + _gps_position->s_variance_m_s = _buf.payload_rx_nav_sol.sAcc; + _gps_position->p_variance_m = _buf.payload_rx_nav_sol.pAcc; + _gps_position->satellites_used = _buf.payload_rx_nav_sol.numSV; + + _gps_position->timestamp_variance = hrt_absolute_time(); + + ret = 1; + break; + + case UBX_MSG_NAV_TIMEUTC: + UBX_TRACE_RXMSG("Rx NAV-TIMEUTC\n"); + + { + /* convert to unix timestamp */ + struct tm timeinfo; + timeinfo.tm_year = _buf.payload_rx_nav_timeutc.year - 1900; + timeinfo.tm_mon = _buf.payload_rx_nav_timeutc.month - 1; + timeinfo.tm_mday = _buf.payload_rx_nav_timeutc.day; + timeinfo.tm_hour = _buf.payload_rx_nav_timeutc.hour; + timeinfo.tm_min = _buf.payload_rx_nav_timeutc.min; + timeinfo.tm_sec = _buf.payload_rx_nav_timeutc.sec; + time_t epoch = mktime(&timeinfo); + +#ifndef CONFIG_RTC + //Since we lack a hardware RTC, set the system time clock based on GPS UTC + //TODO generalize this by moving into gps.cpp? + timespec ts; + ts.tv_sec = epoch; + ts.tv_nsec = _buf.payload_rx_nav_timeutc.nano; + clock_settime(CLOCK_REALTIME, &ts); +#endif + + _gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this + _gps_position->time_gps_usec += (uint64_t)(_buf.payload_rx_nav_timeutc.nano * 1e-3f); + } + + _gps_position->timestamp_time = hrt_absolute_time(); + + ret = 1; + break; + + case UBX_MSG_NAV_SVINFO: + UBX_TRACE_RXMSG("Rx NAV-SVINFO\n"); + + // _satellite_info already populated by payload_rx_add_svinfo(), just add a timestamp + _satellite_info->timestamp = hrt_absolute_time(); + + ret = 2; + break; + + case UBX_MSG_NAV_VELNED: + UBX_TRACE_RXMSG("Rx NAV-VELNED\n"); + + _gps_position->vel_m_s = (float)_buf.payload_rx_nav_velned.speed * 1e-2f; + _gps_position->vel_n_m_s = (float)_buf.payload_rx_nav_velned.velN * 1e-2f; /* NED NORTH velocity */ + _gps_position->vel_e_m_s = (float)_buf.payload_rx_nav_velned.velE * 1e-2f; /* NED EAST velocity */ + _gps_position->vel_d_m_s = (float)_buf.payload_rx_nav_velned.velD * 1e-2f; /* NED DOWN velocity */ + _gps_position->cog_rad = (float)_buf.payload_rx_nav_velned.heading * M_DEG_TO_RAD_F * 1e-5f; + _gps_position->c_variance_rad = (float)_buf.payload_rx_nav_velned.cAcc * M_DEG_TO_RAD_F * 1e-5f; + _gps_position->vel_ned_valid = true; + + _gps_position->timestamp_velocity = hrt_absolute_time(); + + _rate_count_vel++; + _got_velned = true; + + ret = 1; + break; + + case UBX_MSG_MON_HW: + UBX_TRACE_RXMSG("Rx MON-HW\n"); + + switch (_rx_payload_length) { + + case sizeof(ubx_payload_rx_mon_hw_ubx6_t): /* u-blox 6 msg format */ + _gps_position->noise_per_ms = _buf.payload_rx_mon_hw_ubx6.noisePerMS; + _gps_position->jamming_indicator = _buf.payload_rx_mon_hw_ubx6.jamInd; + + ret = 1; + break; + + case sizeof(ubx_payload_rx_mon_hw_ubx7_t): /* u-blox 7+ msg format */ + _gps_position->noise_per_ms = _buf.payload_rx_mon_hw_ubx7.noisePerMS; + _gps_position->jamming_indicator = _buf.payload_rx_mon_hw_ubx7.jamInd; + + ret = 1; + break; + + default: // unexpected payload size: + ret = 0; // don't handle message + break; + } + break; + + case UBX_MSG_ACK_ACK: + UBX_TRACE_RXMSG("Rx ACK-ACK\n"); + + if ((_ack_state == UBX_ACK_WAITING) && (_buf.payload_rx_ack_ack.msg == _ack_waiting_msg)) { + _ack_state = UBX_ACK_GOT_ACK; + } + + ret = 1; + break; + + case UBX_MSG_ACK_NAK: + UBX_TRACE_RXMSG("Rx ACK-NAK\n"); + + if ((_ack_state == UBX_ACK_WAITING) && (_buf.payload_rx_ack_ack.msg == _ack_waiting_msg)) { + _ack_state = UBX_ACK_GOT_NAK; + } + + ret = 1; + break; + + default: + break; + } + return ret; } void UBX::decode_init(void) { + _decode_state = UBX_DECODE_SYNC1; _rx_ck_a = 0; _rx_ck_b = 0; - _rx_count = 0; - _decode_state = UBX_DECODE_UNINIT; - _payload_size = 0; - /* don't reset _message_class, _message_id, _rx_buffer leave it for message handler */ + _rx_payload_length = 0; + _rx_payload_index = 0; } void -UBX::add_byte_to_checksum(uint8_t b) +UBX::add_byte_to_checksum(const uint8_t b) { _rx_ck_a = _rx_ck_a + b; _rx_ck_b = _rx_ck_b + _rx_ck_a; } void -UBX::add_checksum_to_message(uint8_t *message, const unsigned length) +UBX::calc_checksum(const uint8_t *buffer, const uint16_t length, ubx_checksum_t *checksum) { - uint8_t ck_a = 0; - uint8_t ck_b = 0; - unsigned i; - - for (i = 0; i < length - 2; i++) { - ck_a = ck_a + message[i]; - ck_b = ck_b + ck_a; - } - - /* the checksum is written to the last to bytes of a message */ - message[length - 2] = ck_a; - message[length - 1] = ck_b; -} - -void -UBX::add_checksum(uint8_t *message, const unsigned length, uint8_t &ck_a, uint8_t &ck_b) -{ - for (unsigned i = 0; i < length; i++) { - ck_a = ck_a + message[i]; - ck_b = ck_b + ck_a; + for (uint16_t i = 0; i < length; i++) { + checksum->ck_a = checksum->ck_a + buffer[i]; + checksum->ck_b = checksum->ck_b + checksum->ck_a; } } void -UBX::configure_message_rate(uint8_t msg_class, uint8_t msg_id, uint8_t rate) +UBX::configure_message_rate(const uint16_t msg, const uint8_t rate) { - struct ubx_cfg_msg_rate msg; - msg.msg_class = msg_class; - msg.msg_id = msg_id; - msg.rate = rate; - send_message(UBX_CLASS_CFG, UBX_MESSAGE_CFG_MSG, &msg, sizeof(msg)); + ubx_payload_tx_cfg_msg_t cfg_msg; // don't use _buf (allow interleaved operation) + + cfg_msg.msg = msg; + cfg_msg.rate = rate; + + send_message(UBX_MSG_CFG_MSG, (uint8_t *)&cfg_msg, sizeof(cfg_msg)); } void -UBX::send_config_packet(const int &fd, uint8_t *packet, const unsigned length) +UBX::send_message(const uint16_t msg, const uint8_t *payload, const uint16_t length) { - ssize_t ret = 0; + ubx_header_t header = {UBX_SYNC1, UBX_SYNC2}; + ubx_checksum_t checksum = {0, 0}; - /* calculate the checksum now */ - add_checksum_to_message(packet, length); + // Populate header + header.msg = msg; + header.length = length; - const uint8_t sync_bytes[] = {UBX_SYNC1, UBX_SYNC2}; + // Calculate checksum + calc_checksum(((uint8_t*)&header) + 2, sizeof(header) - 2, &checksum); // skip 2 sync bytes + calc_checksum(payload, length, &checksum); - /* start with the two sync bytes */ - ret += write(fd, sync_bytes, sizeof(sync_bytes)); - ret += write(fd, packet, length); - - if (ret != (int)length + (int)sizeof(sync_bytes)) // XXX is there a neater way to get rid of the unsigned signed warning? - warnx("ubx: configuration write fail"); -} - -void -UBX::send_message(uint8_t msg_class, uint8_t msg_id, void *msg, uint8_t size) -{ - struct ubx_header header; - uint8_t ck_a = 0, ck_b = 0; - header.sync1 = UBX_SYNC1; - header.sync2 = UBX_SYNC2; - header.msg_class = msg_class; - header.msg_id = msg_id; - header.length = size; - - add_checksum((uint8_t *)&header.msg_class, sizeof(header) - 2, ck_a, ck_b); - add_checksum((uint8_t *)msg, size, ck_a, ck_b); - - /* configure ACK check */ - _message_class_needed = msg_class; - _message_id_needed = msg_id; - - write(_fd, (const char *)&header, sizeof(header)); - write(_fd, (const char *)msg, size); - write(_fd, (const char *)&ck_a, 1); - write(_fd, (const char *)&ck_b, 1); + // Send message + write(_fd, (const void *)&header, sizeof(header)); + write(_fd, (const void *)payload, length); + write(_fd, (const void *)&checksum, sizeof(checksum)); } diff --git a/src/drivers/gps/ubx.h b/src/drivers/gps/ubx.h index 50df3ada28..f084fc6551 100644 --- a/src/drivers/gps/ubx.h +++ b/src/drivers/gps/ubx.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2012, 2013, 2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -41,6 +41,9 @@ * @author Julian Oes * @author Anton Babushkin * + * @author Hannes Delago + * (rework, add ubx7+ compatibility) + * */ #ifndef UBX_H_ @@ -48,346 +51,341 @@ #include "gps_helper.h" -#define UBX_ENABLE_NAV_SVINFO 1 /* TODO: make this a command line option, allocate buffer(s) dynamically */ - #define UBX_SYNC1 0xB5 #define UBX_SYNC2 0x62 -/* ClassIDs (the ones that are used) */ -#define UBX_CLASS_NAV 0x01 -//#define UBX_CLASS_RXM 0x02 -#define UBX_CLASS_ACK 0x05 -#define UBX_CLASS_CFG 0x06 -#define UBX_CLASS_MON 0x0A +/* Message Classes */ +#define UBX_CLASS_NAV 0x01 +#define UBX_CLASS_ACK 0x05 +#define UBX_CLASS_CFG 0x06 +#define UBX_CLASS_MON 0x0A -/* MessageIDs (the ones that are used) */ -#define UBX_MESSAGE_NAV_POSLLH 0x02 -#define UBX_MESSAGE_NAV_SOL 0x06 -#define UBX_MESSAGE_NAV_VELNED 0x12 -#define UBX_MESSAGE_NAV_TIMEUTC 0x21 -#define UBX_MESSAGE_NAV_SVINFO 0x30 -#define UBX_MESSAGE_ACK_NAK 0x00 -#define UBX_MESSAGE_ACK_ACK 0x01 -#define UBX_MESSAGE_CFG_PRT 0x00 -#define UBX_MESSAGE_CFG_MSG 0x01 -#define UBX_MESSAGE_CFG_RATE 0x08 -#define UBX_MESSAGE_CFG_NAV5 0x24 -#define UBX_MESSAGE_MON_HW 0x09 +/* Message IDs */ +#define UBX_ID_NAV_POSLLH 0x02 +#define UBX_ID_NAV_SOL 0x06 +#define UBX_ID_NAV_VELNED 0x12 +#define UBX_ID_NAV_TIMEUTC 0x21 +#define UBX_ID_NAV_SVINFO 0x30 +#define UBX_ID_ACK_NAK 0x00 +#define UBX_ID_ACK_ACK 0x01 +#define UBX_ID_CFG_PRT 0x00 +#define UBX_ID_CFG_MSG 0x01 +#define UBX_ID_CFG_RATE 0x08 +#define UBX_ID_CFG_NAV5 0x24 +#define UBX_ID_MON_HW 0x09 -/* Rx msg payload sizes */ -#define UBX_NAV_POSLLH_RX_PAYLOAD_SIZE 28 /**< NAV_POSLLH Rx msg payload size */ -#define UBX_NAV_SOL_RX_PAYLOAD_SIZE 52 /**< NAV_SOL Rx msg payload size */ -#define UBX_NAV_VELNED_RX_PAYLOAD_SIZE 36 /**< NAV_VELNED Rx msg payload size */ -#define UBX_NAV_TIMEUTC_RX_PAYLOAD_SIZE 20 /**< NAV_TIMEUTC Rx msg payload size */ -#define UBX_MON_HW_UBX6_RX_PAYLOAD_SIZE 68 /**< MON_HW Rx msg payload size for u-blox 6 and below */ -#define UBX_MON_HW_UBX7_RX_PAYLOAD_SIZE 60 /**< MON_HW Rx msg payload size for u-blox 7 and above */ -#define UBX_MAX_RX_PAYLOAD_SIZE 70 /**< arbitrary maximum for calculating parser buffer size w/o NAV_SVINFO active */ +/* Message Classes & IDs */ +#define UBX_MSG_NAV_POSLLH ((UBX_CLASS_NAV) | UBX_ID_NAV_POSLLH << 8) +#define UBX_MSG_NAV_SOL ((UBX_CLASS_NAV) | UBX_ID_NAV_SOL << 8) +#define UBX_MSG_NAV_VELNED ((UBX_CLASS_NAV) | UBX_ID_NAV_VELNED << 8) +#define UBX_MSG_NAV_TIMEUTC ((UBX_CLASS_NAV) | UBX_ID_NAV_TIMEUTC << 8) +#define UBX_MSG_NAV_SVINFO ((UBX_CLASS_NAV) | UBX_ID_NAV_SVINFO << 8) +#define UBX_MSG_ACK_NAK ((UBX_CLASS_ACK) | UBX_ID_ACK_NAK << 8) +#define UBX_MSG_ACK_ACK ((UBX_CLASS_ACK) | UBX_ID_ACK_ACK << 8) +#define UBX_MSG_CFG_PRT ((UBX_CLASS_CFG) | UBX_ID_CFG_PRT << 8) +#define UBX_MSG_CFG_MSG ((UBX_CLASS_CFG) | UBX_ID_CFG_MSG << 8) +#define UBX_MSG_CFG_RATE ((UBX_CLASS_CFG) | UBX_ID_CFG_RATE << 8) +#define UBX_MSG_CFG_NAV5 ((UBX_CLASS_CFG) | UBX_ID_CFG_NAV5 << 8) +#define UBX_MSG_MON_HW ((UBX_CLASS_MON) | UBX_ID_MON_HW << 8) /* NAV_SVINFO has variable length w/o a published max size, so limit processing to UBX_MAX_NUM_SAT */ -#define UBX_MAX_NUM_SAT 50 /**< Practical observed max number of satellites in SVNFO msg */ -#define UBX_NAV_SVINFO_RX_PAYLOAD_SIZE (8 + 12 * UBX_MAX_NUM_SAT) /**< NAV_SVINFO Rx msg payload size */ +#define UBX_MAX_NUM_SAT_SVINFO 50 /**< Practical observed max number of satellites in SVNFO msg */ +#define UBX_PAYLOAD_NAV_SVINFO (8 + 12 * UBX_MAX_NUM_SAT_SVINFO) /**< NAV_SVINFO Rx msg payload size */ -/* CFG class Tx msg defs */ -#define UBX_CFG_PRT_LENGTH 20 -#define UBX_CFG_PRT_PAYLOAD_PORTID 0x01 /**< UART1 */ -#define UBX_CFG_PRT_PAYLOAD_MODE 0x000008D0 /**< 0b0000100011010000: 8N1 */ -#define UBX_CFG_PRT_PAYLOAD_BAUDRATE 38400 /**< choose 38400 as GPS baudrate */ -#define UBX_CFG_PRT_PAYLOAD_INPROTOMASK 0x01 /**< UBX in */ -#define UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK 0x01 /**< UBX out */ +/* TX CFG-PRT message contents */ +#define UBX_TX_CFG_PRT_PORTID 0x01 /**< UART1 */ +#define UBX_TX_CFG_PRT_MODE 0x000008D0 /**< 0b0000100011010000: 8N1 */ +#define UBX_TX_CFG_PRT_BAUDRATE 38400 /**< choose 38400 as GPS baudrate */ +#define UBX_TX_CFG_PRT_INPROTOMASK 0x01 /**< UBX in */ +#define UBX_TX_CFG_PRT_OUTPROTOMASK 0x01 /**< UBX out */ -#define UBX_CFG_RATE_LENGTH 6 -#define UBX_CFG_RATE_PAYLOAD_MEASINTERVAL 200 /**< 200ms for 5Hz */ -#define UBX_CFG_RATE_PAYLOAD_NAVRATE 1 /**< cannot be changed */ -#define UBX_CFG_RATE_PAYLOAD_TIMEREF 0 /**< 0: UTC, 1: GPS time */ +/* TX CFG-RATE message contents */ +#define UBX_TX_CFG_RATE_MEASINTERVAL 200 /**< 200ms for 5Hz */ +#define UBX_TX_CFG_RATE_NAVRATE 1 /**< cannot be changed */ +#define UBX_TX_CFG_RATE_TIMEREF 0 /**< 0: UTC, 1: GPS time */ -#define UBX_CFG_NAV5_LENGTH 36 -#define UBX_CFG_NAV5_PAYLOAD_MASK 0x0005 /**< XXX only update dynamic model and fix mode */ -#define UBX_CFG_NAV5_PAYLOAD_DYNMODEL 7 /**< 0: portable, 2: stationary, 3: pedestrian, 4: automotive, 5: sea, 6: airborne <1g, 7: airborne <2g, 8: airborne <4g */ -#define UBX_CFG_NAV5_PAYLOAD_FIXMODE 2 /**< 1: 2D only, 2: 3D only, 3: Auto 2D/3D */ +/* TX CFG-NAV5 message contents */ +#define UBX_TX_CFG_NAV5_MASK 0x0005 /**< Only update dynamic model and fix mode */ +#define UBX_TX_CFG_NAV5_DYNMODEL 7 /**< 0 Portable, 2 Stationary, 3 Pedestrian, 4 Automotive, 5 Sea, 6 Airborne <1g, 7 Airborne <2g, 8 Airborne <4g */ +#define UBX_TX_CFG_NAV5_FIXMODE 2 /**< 1 2D only, 2 3D only, 3 Auto 2D/3D */ -#define UBX_CFG_MSG_LENGTH 8 -#define UBX_CFG_MSG_PAYLOAD_RATE1_5HZ 0x01 /**< {0x00, 0x01, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */ -#define UBX_CFG_MSG_PAYLOAD_RATE1_1HZ 0x05 /**< {0x00, 0x05, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */ -#define UBX_CFG_MSG_PAYLOAD_RATE1_05HZ 10 +/* TX CFG-MSG message contents */ +#define UBX_TX_CFG_MSG_RATE1_5HZ 0x01 /**< {0x00, 0x01, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */ +#define UBX_TX_CFG_MSG_RATE1_1HZ 0x05 /**< {0x00, 0x05, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */ +#define UBX_TX_CFG_MSG_RATE1_05HZ 10 -// ************ -/** the structures of the binary packets */ +/*** u-blox protocol binary message and payload definitions ***/ #pragma pack(push, 1) -struct ubx_header { - uint8_t sync1; - uint8_t sync2; - uint8_t msg_class; - uint8_t msg_id; - uint16_t length; -}; - +/* General: Header */ typedef struct { - uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ - int32_t lon; /**< Longitude * 1e-7, deg */ - int32_t lat; /**< Latitude * 1e-7, deg */ - int32_t height; /**< Height above Ellipsoid, mm */ - int32_t height_msl; /**< Height above mean sea level, mm */ - uint32_t hAcc; /**< Horizontal Accuracy Estimate, mm */ - uint32_t vAcc; /**< Vertical Accuracy Estimate, mm */ - uint8_t ck_a; - uint8_t ck_b; -} gps_bin_nav_posllh_packet_t; + uint8_t sync1; + uint8_t sync2; + uint16_t msg; + uint16_t length; +} ubx_header_t; +/* General: Checksum */ typedef struct { - uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ - int32_t time_nanoseconds; /**< Fractional Nanoseconds remainder of rounded ms above, range -500000 .. 500000 */ - int16_t week; /**< GPS week (GPS time) */ - uint8_t gpsFix; /**< GPS Fix: 0 = No fix, 1 = Dead Reckoning only, 2 = 2D fix, 3 = 3d-fix, 4 = GPS + dead reckoning, 5 = time only fix */ - uint8_t flags; - int32_t ecefX; - int32_t ecefY; - int32_t ecefZ; - uint32_t pAcc; - int32_t ecefVX; - int32_t ecefVY; - int32_t ecefVZ; - uint32_t sAcc; - uint16_t pDOP; - uint8_t reserved1; - uint8_t numSV; /**< Number of SVs used in Nav Solution */ - uint32_t reserved2; - uint8_t ck_a; - uint8_t ck_b; -} gps_bin_nav_sol_packet_t; + uint8_t ck_a; + uint8_t ck_b; +} ubx_checksum_t ; +/* Rx NAV-POSLLH */ typedef struct { - uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ - uint32_t time_accuracy; /**< Time Accuracy Estimate, ns */ - int32_t time_nanoseconds; /**< Nanoseconds of second, range -1e9 .. 1e9 (UTC) */ - uint16_t year; /**< Year, range 1999..2099 (UTC) */ - uint8_t month; /**< Month, range 1..12 (UTC) */ - uint8_t day; /**< Day of Month, range 1..31 (UTC) */ - uint8_t hour; /**< Hour of Day, range 0..23 (UTC) */ - uint8_t min; /**< Minute of Hour, range 0..59 (UTC) */ - uint8_t sec; /**< Seconds of Minute, range 0..59 (UTC) */ - uint8_t valid_flag; /**< Validity Flags (see ubx documentation) */ - uint8_t ck_a; - uint8_t ck_b; -} gps_bin_nav_timeutc_packet_t; - -//typedef struct { -// uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ -// uint16_t gDOP; /**< Geometric DOP (scaling 0.01) */ -// uint16_t pDOP; /**< Position DOP (scaling 0.01) */ -// uint16_t tDOP; /**< Time DOP (scaling 0.01) */ -// uint16_t vDOP; /**< Vertical DOP (scaling 0.01) */ -// uint16_t hDOP; /**< Horizontal DOP (scaling 0.01) */ -// uint16_t nDOP; /**< Northing DOP (scaling 0.01) */ -// uint16_t eDOP; /**< Easting DOP (scaling 0.01) */ -// uint8_t ck_a; -// uint8_t ck_b; -//} gps_bin_nav_dop_packet_t; + uint32_t iTOW; /**< GPS Time of Week [ms] */ + int32_t lon; /**< Longitude [1e-7 deg] */ + int32_t lat; /**< Latitude [1e-7 deg] */ + int32_t height; /**< Height above ellipsoid [mm] */ + int32_t hMSL; /**< Height above mean sea level [mm] */ + uint32_t hAcc; /**< Horizontal accuracy estimate [mm] */ + uint32_t vAcc; /**< Vertical accuracy estimate [mm] */ +} ubx_payload_rx_nav_posllh_t; +/* Rx NAV-SOL */ typedef struct { - uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ - uint8_t numCh; /**< Number of channels */ - uint8_t globalFlags; - uint16_t reserved2; - -} gps_bin_nav_svinfo_part1_packet_t; + uint32_t iTOW; /**< GPS Time of Week [ms] */ + int32_t fTOW; /**< Fractional part of iTOW (range: +/-500000) [ns] */ + int16_t week; /**< GPS week */ + uint8_t gpsFix; /**< GPSfix type: 0 = No fix, 1 = Dead Reckoning only, 2 = 2D fix, 3 = 3d-fix, 4 = GPS + dead reckoning, 5 = time only fix */ + uint8_t flags; + int32_t ecefX; + int32_t ecefY; + int32_t ecefZ; + uint32_t pAcc; + int32_t ecefVX; + int32_t ecefVY; + int32_t ecefVZ; + uint32_t sAcc; + uint16_t pDOP; + uint8_t reserved1; + uint8_t numSV; /**< Number of SVs used in Nav Solution */ + uint32_t reserved2; +} ubx_payload_rx_nav_sol_t; +/* Rx NAV-TIMEUTC */ typedef struct { - uint8_t chn; /**< Channel number, 255 for SVs not assigned to a channel */ - uint8_t svid; /**< Satellite ID */ - uint8_t flags; - uint8_t quality; - uint8_t cno; /**< Carrier to Noise Ratio (Signal Strength), dbHz */ - int8_t elev; /**< Elevation in integer degrees */ - int16_t azim; /**< Azimuth in integer degrees */ - int32_t prRes; /**< Pseudo range residual in centimetres */ - -} gps_bin_nav_svinfo_part2_packet_t; + uint32_t iTOW; /**< GPS Time of Week [ms] */ + uint32_t tAcc; /**< Time accuracy estimate (UTC) [ns] */ + int32_t nano; /**< Fraction of second, range -1e9 .. 1e9 (UTC) [ns] */ + uint16_t year; /**< Year, range 1999..2099 (UTC) */ + uint8_t month; /**< Month, range 1..12 (UTC) */ + uint8_t day; /**< Day of month, range 1..31 (UTC) */ + uint8_t hour; /**< Hour of day, range 0..23 (UTC) */ + uint8_t min; /**< Minute of hour, range 0..59 (UTC) */ + uint8_t sec; /**< Seconds of minute, range 0..60 (UTC) */ + uint8_t valid; /**< Validity Flags (see ubx documentation) */ +} ubx_payload_rx_nav_timeutc_t; +/* Rx NAV-SVINFO Part 1 */ typedef struct { - uint8_t ck_a; - uint8_t ck_b; -} gps_bin_nav_svinfo_part3_packet_t; + uint32_t iTOW; /**< GPS Time of Week [ms] */ + uint8_t numCh; /**< Number of channels */ + uint8_t globalFlags; + uint16_t reserved2; +} ubx_payload_rx_nav_svinfo_part1_t; +/* Rx NAV-SVINFO Part 2 (repeated) */ typedef struct { - uint32_t time_milliseconds; // GPS Millisecond Time of Week - int32_t velN; //NED north velocity, cm/s - int32_t velE; //NED east velocity, cm/s - int32_t velD; //NED down velocity, cm/s - uint32_t speed; //Speed (3-D), cm/s - uint32_t gSpeed; //Ground Speed (2-D), cm/s - int32_t heading; //Heading of motion 2-D, deg, scaling: 1e-5 - uint32_t sAcc; //Speed Accuracy Estimate, cm/s - uint32_t cAcc; //Course / Heading Accuracy Estimate, scaling: 1e-5 - uint8_t ck_a; - uint8_t ck_b; -} gps_bin_nav_velned_packet_t; - -struct gps_bin_mon_hw_ubx6_packet { - uint32_t pinSel; - uint32_t pinBank; - uint32_t pinDir; - uint32_t pinVal; - uint16_t noisePerMS; - uint16_t agcCnt; - uint8_t aStatus; - uint8_t aPower; - uint8_t flags; - uint8_t __reserved1; - uint32_t usedMask; - uint8_t VP[25]; - uint8_t jamInd; - uint16_t __reserved3; - uint32_t pinIrq; - uint32_t pulLH; - uint32_t pullL; -}; - -struct gps_bin_mon_hw_ubx7_packet { - uint32_t pinSel; - uint32_t pinBank; - uint32_t pinDir; - uint32_t pinVal; - uint16_t noisePerMS; - uint16_t agcCnt; - uint8_t aStatus; - uint8_t aPower; - uint8_t flags; - uint8_t __reserved1; - uint32_t usedMask; - uint8_t VP[17]; - uint8_t jamInd; - uint16_t __reserved3; - uint32_t pinIrq; - uint32_t pulLH; - uint32_t pullL; -}; - -//typedef struct { -// int32_t time_milliseconds; /**< Measurement integer millisecond GPS time of week */ -// int16_t week; /**< Measurement GPS week number */ -// uint8_t numVis; /**< Number of visible satellites */ -// -// //... rest of package is not used in this implementation -// -//} gps_bin_rxm_svsi_packet_t; + uint8_t chn; /**< Channel number, 255 for SVs not assigned to a channel */ + uint8_t svid; /**< Satellite ID */ + uint8_t flags; + uint8_t quality; + uint8_t cno; /**< Carrier to Noise Ratio (Signal Strength) [dbHz] */ + int8_t elev; /**< Elevation [deg] */ + int16_t azim; /**< Azimuth [deg] */ + int32_t prRes; /**< Pseudo range residual [cm] */ +} ubx_payload_rx_nav_svinfo_part2_t; +/* Rx NAV-VELNED */ typedef struct { - uint8_t clsID; - uint8_t msgID; - uint8_t ck_a; - uint8_t ck_b; -} gps_bin_ack_ack_packet_t; + uint32_t iTOW; /**< GPS Time of Week [ms] */ + int32_t velN; /**< North velocity component [cm/s]*/ + int32_t velE; /**< East velocity component [cm/s]*/ + int32_t velD; /**< Down velocity component [cm/s]*/ + uint32_t speed; /**< Speed (3-D) [cm/s] */ + uint32_t gSpeed; /**< Ground speed (2-D) [cm/s] */ + int32_t heading; /**< Heading of motion 2-D [1e-5 deg] */ + uint32_t sAcc; /**< Speed accuracy estimate [cm/s] */ + uint32_t cAcc; /**< Course / Heading accuracy estimate [1e-5 deg] */ +} ubx_payload_rx_nav_velned_t; +/* Rx MON-HW (ubx6) */ typedef struct { - uint8_t clsID; - uint8_t msgID; - uint8_t ck_a; - uint8_t ck_b; -} gps_bin_ack_nak_packet_t; + uint32_t pinSel; + uint32_t pinBank; + uint32_t pinDir; + uint32_t pinVal; + uint16_t noisePerMS; + uint16_t agcCnt; + uint8_t aStatus; + uint8_t aPower; + uint8_t flags; + uint8_t reserved1; + uint32_t usedMask; + uint8_t VP[25]; + uint8_t jamInd; + uint16_t reserved3; + uint32_t pinIrq; + uint32_t pullH; + uint32_t pullL; +} ubx_payload_rx_mon_hw_ubx6_t; +/* Rx MON-HW (ubx7+) */ typedef struct { - uint8_t clsID; - uint8_t msgID; - uint16_t length; - uint8_t portID; - uint8_t res0; - uint16_t res1; - uint32_t mode; - uint32_t baudRate; - uint16_t inProtoMask; - uint16_t outProtoMask; - uint16_t flags; - uint16_t pad; - uint8_t ck_a; - uint8_t ck_b; -} type_gps_bin_cfg_prt_packet_t; + uint32_t pinSel; + uint32_t pinBank; + uint32_t pinDir; + uint32_t pinVal; + uint16_t noisePerMS; + uint16_t agcCnt; + uint8_t aStatus; + uint8_t aPower; + uint8_t flags; + uint8_t reserved1; + uint32_t usedMask; + uint8_t VP[17]; + uint8_t jamInd; + uint16_t reserved3; + uint32_t pinIrq; + uint32_t pullH; + uint32_t pullL; +} ubx_payload_rx_mon_hw_ubx7_t; -typedef struct { - uint8_t clsID; - uint8_t msgID; - uint16_t length; - uint16_t measRate; - uint16_t navRate; - uint16_t timeRef; - uint8_t ck_a; - uint8_t ck_b; -} type_gps_bin_cfg_rate_packet_t; +/* Rx ACK-ACK */ +typedef union { + uint16_t msg; + struct { + uint8_t clsID; + uint8_t msgID; + }; +} ubx_payload_rx_ack_ack_t; -typedef struct { - uint8_t clsID; - uint8_t msgID; - uint16_t length; - uint16_t mask; - uint8_t dynModel; - uint8_t fixMode; - int32_t fixedAlt; - uint32_t fixedAltVar; - int8_t minElev; - uint8_t drLimit; - uint16_t pDop; - uint16_t tDop; - uint16_t pAcc; - uint16_t tAcc; - uint8_t staticHoldThresh; - uint8_t dgpsTimeOut; - uint32_t reserved2; - uint32_t reserved3; - uint32_t reserved4; - uint8_t ck_a; - uint8_t ck_b; -} type_gps_bin_cfg_nav5_packet_t; +/* Rx ACK-NAK */ +typedef union { + uint16_t msg; + struct { + uint8_t clsID; + uint8_t msgID; + }; +} ubx_payload_rx_ack_nak_t; +/* Tx CFG-PRT */ typedef struct { - uint8_t clsID; - uint8_t msgID; - uint16_t length; - uint8_t msgClass_payload; - uint8_t msgID_payload; + uint8_t portID; + uint8_t reserved0; + uint16_t txReady; + uint32_t mode; + uint32_t baudRate; + uint16_t inProtoMask; + uint16_t outProtoMask; + uint16_t flags; + uint16_t reserved5; +} ubx_payload_tx_cfg_prt_t; + +/* Tx CFG-RATE */ +typedef struct { + uint16_t measRate; /**< Measurement Rate, GPS measurements are taken every measRate milliseconds */ + uint16_t navRate; /**< Navigation Rate, in number of measurement cycles. This parameter cannot be changed, and must be set to 1 */ + uint16_t timeRef; /**< Alignment to reference time: 0 = UTC time, 1 = GPS time */ +} ubx_payload_tx_cfg_rate_t; + +/* Tx CFG-NAV5 */ +typedef struct { + uint16_t mask; + uint8_t dynModel; /**< Dynamic Platform model: 0 Portable, 2 Stationary, 3 Pedestrian, 4 Automotive, 5 Sea, 6 Airborne <1g, 7 Airborne <2g, 8 Airborne <4g */ + uint8_t fixMode; /**< Position Fixing Mode: 1 2D only, 2 3D only, 3 Auto 2D/3D */ + int32_t fixedAlt; + uint32_t fixedAltVar; + int8_t minElev; + uint8_t drLimit; + uint16_t pDop; + uint16_t tDop; + uint16_t pAcc; + uint16_t tAcc; + uint8_t staticHoldThresh; + uint8_t dgpsTimeOut; + uint8_t cnoThreshNumSVs; /**< (ubx7+ only, else 0) */ + uint8_t cnoThresh; /**< (ubx7+ only, else 0) */ + uint16_t reserved; + uint16_t staticHoldMaxDist; /**< (ubx8+ only, else 0) */ + uint8_t utcStandard; /**< (ubx8+ only, else 0) */ + uint8_t reserved3; + uint32_t reserved4; +} ubx_payload_tx_cfg_nav5_t; + +/* Tx CFG-MSG */ +typedef struct { + union { + uint16_t msg; + struct { + uint8_t msgClass; + uint8_t msgID; + }; + }; uint8_t rate; - uint8_t ck_a; - uint8_t ck_b; -} type_gps_bin_cfg_msg_packet_t; +} ubx_payload_tx_cfg_msg_t; -struct ubx_cfg_msg_rate { - uint8_t msg_class; - uint8_t msg_id; - uint8_t rate; -}; +/* General message and payload buffer union */ +typedef union { + ubx_payload_rx_nav_posllh_t payload_rx_nav_posllh; + ubx_payload_rx_nav_sol_t payload_rx_nav_sol; + ubx_payload_rx_nav_timeutc_t payload_rx_nav_timeutc; + ubx_payload_rx_nav_svinfo_part1_t payload_rx_nav_svinfo_part1; + ubx_payload_rx_nav_svinfo_part2_t payload_rx_nav_svinfo_part2; + ubx_payload_rx_nav_velned_t payload_rx_nav_velned; + ubx_payload_rx_mon_hw_ubx6_t payload_rx_mon_hw_ubx6; + ubx_payload_rx_mon_hw_ubx7_t payload_rx_mon_hw_ubx7; + ubx_payload_rx_ack_ack_t payload_rx_ack_ack; + ubx_payload_rx_ack_nak_t payload_rx_ack_nak; + ubx_payload_tx_cfg_prt_t payload_tx_cfg_prt; + ubx_payload_tx_cfg_rate_t payload_tx_cfg_rate; + ubx_payload_tx_cfg_nav5_t payload_tx_cfg_nav5; + ubx_payload_tx_cfg_msg_t payload_tx_cfg_msg; + uint8_t raw[]; +} ubx_buf_t; +#pragma pack(pop) +/*** END OF u-blox protocol binary message and payload definitions ***/ -// END the structures of the binary packets -// ************ - +/* Decoder state */ typedef enum { - UBX_DECODE_UNINIT = 0, - UBX_DECODE_GOT_SYNC1, - UBX_DECODE_GOT_SYNC2, - UBX_DECODE_GOT_CLASS, - UBX_DECODE_GOT_MESSAGEID, - UBX_DECODE_GOT_LENGTH1, - UBX_DECODE_GOT_LENGTH2 + UBX_DECODE_SYNC1 = 0, + UBX_DECODE_SYNC2, + UBX_DECODE_CLASS, + UBX_DECODE_ID, + UBX_DECODE_LENGTH1, + UBX_DECODE_LENGTH2, + UBX_DECODE_PAYLOAD, + UBX_DECODE_CHKSUM1, + UBX_DECODE_CHKSUM2 } ubx_decode_state_t; -//typedef type_gps_bin_ubx_state gps_bin_ubx_state_t; -#pragma pack(pop) +/* Rx message state */ +typedef enum { + UBX_RXMSG_IGNORE = 0, + UBX_RXMSG_HANDLE, + UBX_RXMSG_DISABLE, + UBX_RXMSG_ERROR_LENGTH +} ubx_rxmsg_state_t; + + +/* ACK state */ +typedef enum { + UBX_ACK_IDLE = 0, + UBX_ACK_WAITING, + UBX_ACK_GOT_ACK, + UBX_ACK_GOT_NAK +} ubx_ack_state_t; -/* calculate parser rx buffer size dependent on NAV_SVINFO enabled or not */ -/* TODO: make this a command line option, allocate buffer dynamically */ -#define RECV_BUFFER_OVERHEAD 10 // add this to the maximum Rx msg payload size to account for msg overhead */ -#if (UBX_ENABLE_NAV_SVINFO != 0) - #define RECV_BUFFER_SIZE (UBX_NAV_SVINFO_RX_PAYLOAD_SIZE + RECV_BUFFER_OVERHEAD) -#else - #define RECV_BUFFER_SIZE (UBX_MAX_RX_PAYLOAD_SIZE + RECV_BUFFER_OVERHEAD) -#endif class UBX : public GPS_Helper { public: - UBX(const int &fd, struct vehicle_gps_position_s *gps_position, struct satellite_info_s *satellite_info, const bool &enable_sat_info); + UBX(const int &fd, struct vehicle_gps_position_s *gps_position, struct satellite_info_s *satellite_info); ~UBX(); - int receive(unsigned timeout); + int receive(const unsigned timeout); int configure(unsigned &baudrate); private: @@ -395,12 +393,23 @@ private: /** * Parse the binary UBX packet */ - int parse_char(uint8_t b); + int parse_char(const uint8_t b); /** - * Handle the package once it has arrived + * Start payload rx */ - int handle_message(void); + int payload_rx_init(void); + + /** + * Add payload rx byte + */ + int payload_rx_add(const uint8_t b); + int payload_rx_add_svinfo(const uint8_t b); + + /** + * Finish payload rx + */ + int payload_rx_done(void); /** * Reset the parse state machine for a fresh start @@ -410,45 +419,46 @@ private: /** * While parsing add every byte (except the sync bytes) to the checksum */ - void add_byte_to_checksum(uint8_t); + void add_byte_to_checksum(const uint8_t); /** - * Add the two checksum bytes to an outgoing message + * Send a message */ - void add_checksum_to_message(uint8_t *message, const unsigned length); + void send_message(const uint16_t msg, const uint8_t *payload, const uint16_t length); /** - * Helper to send a config packet + * Configure message rate */ - void send_config_packet(const int &fd, uint8_t *packet, const unsigned length); + void configure_message_rate(const uint16_t msg, const uint8_t rate); - void configure_message_rate(uint8_t msg_class, uint8_t msg_id, uint8_t rate); + /** + * Calculate & add checksum for given buffer + */ + void calc_checksum(const uint8_t *buffer, const uint16_t length, ubx_checksum_t *checksum); - void send_message(uint8_t msg_class, uint8_t msg_id, void *msg, uint8_t size); - - void add_checksum(uint8_t *message, const unsigned length, uint8_t &ck_a, uint8_t &ck_b); - - int wait_for_ack(unsigned timeout); + /** + * Wait for message acknowledge + */ + int wait_for_ack(const uint16_t msg, const unsigned timeout, const bool report); int _fd; struct vehicle_gps_position_s *_gps_position; struct satellite_info_s *_satellite_info; bool _enable_sat_info; bool _configured; - bool _waiting_for_ack; + ubx_ack_state_t _ack_state; bool _got_posllh; bool _got_velned; - uint8_t _message_class_needed; - uint8_t _message_id_needed; ubx_decode_state_t _decode_state; - uint8_t _rx_buffer[RECV_BUFFER_SIZE]; - unsigned _rx_count; + uint16_t _rx_msg; + ubx_rxmsg_state_t _rx_state; + uint16_t _rx_payload_length; + uint16_t _rx_payload_index; uint8_t _rx_ck_a; uint8_t _rx_ck_b; - uint8_t _message_class; - uint8_t _message_id; - unsigned _payload_size; hrt_abstime _disable_cmd_last; + uint16_t _ack_waiting_msg; + ubx_buf_t _buf; }; #endif /* UBX_H_ */ From 7724e3d889eecd6733c6e85341a9f0b97faa37cf Mon Sep 17 00:00:00 2001 From: Kynos Date: Fri, 13 Jun 2014 23:18:58 +0200 Subject: [PATCH 19/67] Remove unreferenced SVINFO length defines --- src/drivers/gps/ubx.h | 4 ---- 1 file changed, 4 deletions(-) diff --git a/src/drivers/gps/ubx.h b/src/drivers/gps/ubx.h index f084fc6551..8fd8d4da63 100644 --- a/src/drivers/gps/ubx.h +++ b/src/drivers/gps/ubx.h @@ -88,10 +88,6 @@ #define UBX_MSG_CFG_NAV5 ((UBX_CLASS_CFG) | UBX_ID_CFG_NAV5 << 8) #define UBX_MSG_MON_HW ((UBX_CLASS_MON) | UBX_ID_MON_HW << 8) -/* NAV_SVINFO has variable length w/o a published max size, so limit processing to UBX_MAX_NUM_SAT */ -#define UBX_MAX_NUM_SAT_SVINFO 50 /**< Practical observed max number of satellites in SVNFO msg */ -#define UBX_PAYLOAD_NAV_SVINFO (8 + 12 * UBX_MAX_NUM_SAT_SVINFO) /**< NAV_SVINFO Rx msg payload size */ - /* TX CFG-PRT message contents */ #define UBX_TX_CFG_PRT_PORTID 0x01 /**< UART1 */ #define UBX_TX_CFG_PRT_MODE 0x000008D0 /**< 0b0000100011010000: 8N1 */ From 1b8e72be1b9614bff4e1bdf81ad7f3265754e062 Mon Sep 17 00:00:00 2001 From: Kynos Date: Sun, 15 Jun 2014 17:26:14 +0200 Subject: [PATCH 20/67] Merge sAcc & pAcc scaling fix from branch inav_gps_delay --- src/drivers/gps/ubx.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp index 1783ae0f75..56e7a8bd76 100644 --- a/src/drivers/gps/ubx.cpp +++ b/src/drivers/gps/ubx.cpp @@ -643,8 +643,8 @@ UBX::payload_rx_done(void) UBX_TRACE_RXMSG("Rx NAV-SOL\n"); _gps_position->fix_type = _buf.payload_rx_nav_sol.gpsFix; - _gps_position->s_variance_m_s = _buf.payload_rx_nav_sol.sAcc; - _gps_position->p_variance_m = _buf.payload_rx_nav_sol.pAcc; + _gps_position->s_variance_m_s = (float)_buf.payload_rx_nav_sol.sAcc * 1e-2f; // from cm to m + _gps_position->p_variance_m = (float)_buf.payload_rx_nav_sol.pAcc * 1e-2f; // from cm to m _gps_position->satellites_used = _buf.payload_rx_nav_sol.numSV; _gps_position->timestamp_variance = hrt_absolute_time(); From 243db01a37d5d3adecc2e010ac4d9819cf3d6c37 Mon Sep 17 00:00:00 2001 From: Kynos Date: Mon, 16 Jun 2014 01:43:44 +0200 Subject: [PATCH 21/67] Request and display MON-VER message at startup --- src/drivers/gps/ubx.cpp | 73 ++++++++++++++++++++++++++++++++++++----- src/drivers/gps/ubx.h | 21 ++++++++++-- 2 files changed, 84 insertions(+), 10 deletions(-) diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp index 56e7a8bd76..be19ce4881 100644 --- a/src/drivers/gps/ubx.cpp +++ b/src/drivers/gps/ubx.cpp @@ -93,6 +93,8 @@ UBX::UBX(const int &fd, struct vehicle_gps_position_s *gps_position, struct sate _ack_waiting_msg(0) { decode_init(); + memset(_ubx_sw_version, 0, sizeof(_ubx_sw_version)); + memset(_ubx_hw_version, 0, sizeof(_ubx_hw_version)); } UBX::~UBX() @@ -221,6 +223,9 @@ UBX::configure(unsigned &baudrate) return 1; } + /* request module version information by sending an empty MON-VER message */ + send_message(UBX_MSG_MON_VER, nullptr, 0); + _configured = true; return 0; } @@ -385,10 +390,16 @@ UBX::parse_char(const uint8_t b) case UBX_DECODE_PAYLOAD: UBX_TRACE_PARSER("."); add_byte_to_checksum(b); - if (_rx_msg != UBX_MSG_NAV_SVINFO) { - ret = payload_rx_add(b); // add a payload byte - } else { - ret = payload_rx_add_svinfo(b); // add a svinfo payload byte + switch (_rx_msg) { + case UBX_MSG_NAV_SVINFO: + ret = payload_rx_add_nav_svinfo(b); // add a NAV-SVINFO payload byte + break; + case UBX_MSG_MON_VER: + ret = payload_rx_add_mon_ver(b); // add a MON-VER payload byte + break; + default: + ret = payload_rx_add(b); // add a payload byte + break; } if (ret < 0) { // payload not handled, discard message @@ -477,6 +488,9 @@ UBX::payload_rx_init() _rx_state = UBX_RXMSG_IGNORE; // ignore if not _configured break; + case UBX_MSG_MON_VER: + break; // unconditionally handle this message + case UBX_MSG_MON_HW: if ( (_rx_payload_length != sizeof(ubx_payload_rx_mon_hw_ubx6_t)) /* u-blox 6 msg format */ && (_rx_payload_length != sizeof(ubx_payload_rx_mon_hw_ubx7_t))) /* u-blox 7+ msg format */ @@ -559,10 +573,10 @@ UBX::payload_rx_add(const uint8_t b) } /** - * Add svinfo payload rx byte + * Add NAV-SVINFO payload rx byte */ int // -1 = error, 0 = ok, 1 = payload completed -UBX::payload_rx_add_svinfo(const uint8_t b) +UBX::payload_rx_add_nav_svinfo(const uint8_t b) { int ret = 0; @@ -606,6 +620,41 @@ UBX::payload_rx_add_svinfo(const uint8_t b) return ret; } +/** + * Add MON-VER payload rx byte + */ +int // -1 = error, 0 = ok, 1 = payload completed +UBX::payload_rx_add_mon_ver(const uint8_t b) +{ + int ret = 0; + + if (_rx_payload_index < sizeof(ubx_payload_rx_mon_ver_part1_t)) { + // Fill Part 1 buffer + _buf.raw[_rx_payload_index] = b; + } else { + if (_rx_payload_index == sizeof(ubx_payload_rx_mon_ver_part1_t)) { + // Part 1 complete: decode Part 1 buffer + strncpy(_ubx_sw_version, (char*)_buf.payload_rx_mon_ver_part1.swVersion, sizeof(_ubx_sw_version)); + strncpy(_ubx_hw_version, (char*)_buf.payload_rx_mon_ver_part1.hwVersion, sizeof(_ubx_hw_version)); + UBX_WARN("VER sw %30s", _ubx_sw_version); + UBX_WARN("VER hw %10s", _ubx_hw_version); + } + // fill Part 2 buffer + unsigned buf_index = (_rx_payload_index - sizeof(ubx_payload_rx_mon_ver_part1_t)) % sizeof(ubx_payload_rx_mon_ver_part2_t); + _buf.raw[buf_index] = b; + if (buf_index == sizeof(ubx_payload_rx_mon_ver_part2_t) - 1) { + // Part 2 complete: decode Part 2 buffer + UBX_WARN("VER ext %30s", _buf.payload_rx_mon_ver_part2.extension); + } + } + + if (++_rx_payload_index >= _rx_payload_length) { + ret = 1; // payload received completely + } + + return ret; +} + /** * Finish payload rx */ @@ -712,6 +761,12 @@ UBX::payload_rx_done(void) ret = 1; break; + case UBX_MSG_MON_VER: + UBX_TRACE_RXMSG("Rx MON-VER\n"); + + ret = 1; + break; + case UBX_MSG_MON_HW: UBX_TRACE_RXMSG("Rx MON-HW\n"); @@ -813,10 +868,12 @@ UBX::send_message(const uint16_t msg, const uint8_t *payload, const uint16_t len // Calculate checksum calc_checksum(((uint8_t*)&header) + 2, sizeof(header) - 2, &checksum); // skip 2 sync bytes - calc_checksum(payload, length, &checksum); + if (payload != nullptr) + calc_checksum(payload, length, &checksum); // Send message write(_fd, (const void *)&header, sizeof(header)); - write(_fd, (const void *)payload, length); + if (payload != nullptr) + write(_fd, (const void *)payload, length); write(_fd, (const void *)&checksum, sizeof(checksum)); } diff --git a/src/drivers/gps/ubx.h b/src/drivers/gps/ubx.h index 8fd8d4da63..c8c89dfadd 100644 --- a/src/drivers/gps/ubx.h +++ b/src/drivers/gps/ubx.h @@ -72,6 +72,7 @@ #define UBX_ID_CFG_MSG 0x01 #define UBX_ID_CFG_RATE 0x08 #define UBX_ID_CFG_NAV5 0x24 +#define UBX_ID_MON_VER 0x04 #define UBX_ID_MON_HW 0x09 /* Message Classes & IDs */ @@ -87,6 +88,7 @@ #define UBX_MSG_CFG_RATE ((UBX_CLASS_CFG) | UBX_ID_CFG_RATE << 8) #define UBX_MSG_CFG_NAV5 ((UBX_CLASS_CFG) | UBX_ID_CFG_NAV5 << 8) #define UBX_MSG_MON_HW ((UBX_CLASS_MON) | UBX_ID_MON_HW << 8) +#define UBX_MSG_MON_VER ((UBX_CLASS_MON) | UBX_ID_MON_VER << 8) /* TX CFG-PRT message contents */ #define UBX_TX_CFG_PRT_PORTID 0x01 /**< UART1 */ @@ -249,6 +251,17 @@ typedef struct { uint32_t pullL; } ubx_payload_rx_mon_hw_ubx7_t; +/* Rx MON-VER Part 1 */ +typedef struct { + uint8_t swVersion[30]; + uint8_t hwVersion[10]; +} ubx_payload_rx_mon_ver_part1_t; + +/* Rx MON-VER Part 2 (repeated) */ +typedef struct { + uint8_t extension[30]; +} ubx_payload_rx_mon_ver_part2_t; + /* Rx ACK-ACK */ typedef union { uint16_t msg; @@ -333,6 +346,8 @@ typedef union { ubx_payload_rx_nav_velned_t payload_rx_nav_velned; ubx_payload_rx_mon_hw_ubx6_t payload_rx_mon_hw_ubx6; ubx_payload_rx_mon_hw_ubx7_t payload_rx_mon_hw_ubx7; + ubx_payload_rx_mon_ver_part1_t payload_rx_mon_ver_part1; + ubx_payload_rx_mon_ver_part2_t payload_rx_mon_ver_part2; ubx_payload_rx_ack_ack_t payload_rx_ack_ack; ubx_payload_rx_ack_nak_t payload_rx_ack_nak; ubx_payload_tx_cfg_prt_t payload_tx_cfg_prt; @@ -366,7 +381,6 @@ typedef enum { UBX_RXMSG_ERROR_LENGTH } ubx_rxmsg_state_t; - /* ACK state */ typedef enum { UBX_ACK_IDLE = 0, @@ -400,7 +414,8 @@ private: * Add payload rx byte */ int payload_rx_add(const uint8_t b); - int payload_rx_add_svinfo(const uint8_t b); + int payload_rx_add_nav_svinfo(const uint8_t b); + int payload_rx_add_mon_ver(const uint8_t b); /** * Finish payload rx @@ -455,6 +470,8 @@ private: hrt_abstime _disable_cmd_last; uint16_t _ack_waiting_msg; ubx_buf_t _buf; + char _ubx_sw_version[30]; + char _ubx_hw_version[10]; }; #endif /* UBX_H_ */ From 0ffb123701c2e6124d7c735cdb55c250564d12c6 Mon Sep 17 00:00:00 2001 From: Kynos Date: Mon, 16 Jun 2014 15:35:38 +0200 Subject: [PATCH 22/67] Store hash instead of full strings for SW & HW version --- src/drivers/gps/ubx.cpp | 48 +++++++++++++++++++++++++++++++++-------- src/drivers/gps/ubx.h | 8 +++++-- 2 files changed, 45 insertions(+), 11 deletions(-) diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp index be19ce4881..adc7130dd3 100644 --- a/src/drivers/gps/ubx.cpp +++ b/src/drivers/gps/ubx.cpp @@ -72,6 +72,10 @@ #define MIN(X,Y) ((X) < (Y) ? (X) : (Y)) #define SWAP16(X) ((((X) >> 8) & 0x00ff) | (((X) << 8) & 0xff00)) +#define FNV1_32_INIT ((uint32_t)0x811c9dc5) // init value for FNV1 hash algorithm +#define FNV1_32_PRIME ((uint32_t)0x01000193) // magic prime for FNV1 hash algorithm + + /**** Trace macros, disable for production builds */ #define UBX_TRACE_PARSER(s, ...) {/*printf(s, ## __VA_ARGS__);*/} /* decoding progress in parse_char() */ #define UBX_TRACE_RXMSG(s, ...) {/*printf(s, ## __VA_ARGS__);*/} /* Rx msgs in payload_rx_done() */ @@ -90,11 +94,10 @@ UBX::UBX(const int &fd, struct vehicle_gps_position_s *gps_position, struct sate _got_posllh(false), _got_velned(false), _disable_cmd_last(0), - _ack_waiting_msg(0) + _ack_waiting_msg(0), + _ubx_version(0) { decode_init(); - memset(_ubx_sw_version, 0, sizeof(_ubx_sw_version)); - memset(_ubx_hw_version, 0, sizeof(_ubx_hw_version)); } UBX::~UBX() @@ -633,18 +636,19 @@ UBX::payload_rx_add_mon_ver(const uint8_t b) _buf.raw[_rx_payload_index] = b; } else { if (_rx_payload_index == sizeof(ubx_payload_rx_mon_ver_part1_t)) { - // Part 1 complete: decode Part 1 buffer - strncpy(_ubx_sw_version, (char*)_buf.payload_rx_mon_ver_part1.swVersion, sizeof(_ubx_sw_version)); - strncpy(_ubx_hw_version, (char*)_buf.payload_rx_mon_ver_part1.hwVersion, sizeof(_ubx_hw_version)); - UBX_WARN("VER sw %30s", _ubx_sw_version); - UBX_WARN("VER hw %10s", _ubx_hw_version); + // Part 1 complete: decode Part 1 buffer and calculate hash for SW&HW version strings + _ubx_version = fnv1_32_str(_buf.payload_rx_mon_ver_part1.swVersion, FNV1_32_INIT); + _ubx_version = fnv1_32_str(_buf.payload_rx_mon_ver_part1.hwVersion, _ubx_version); + UBX_WARN("VER hash 0x%08x", _ubx_version); + UBX_WARN("VER hw \"%10s\"", _buf.payload_rx_mon_ver_part1.hwVersion); + UBX_WARN("VER sw \"%30s\"", _buf.payload_rx_mon_ver_part1.swVersion); } // fill Part 2 buffer unsigned buf_index = (_rx_payload_index - sizeof(ubx_payload_rx_mon_ver_part1_t)) % sizeof(ubx_payload_rx_mon_ver_part2_t); _buf.raw[buf_index] = b; if (buf_index == sizeof(ubx_payload_rx_mon_ver_part2_t) - 1) { // Part 2 complete: decode Part 2 buffer - UBX_WARN("VER ext %30s", _buf.payload_rx_mon_ver_part2.extension); + UBX_WARN("VER ext \" %30s\"", _buf.payload_rx_mon_ver_part2.extension); } } @@ -877,3 +881,29 @@ UBX::send_message(const uint16_t msg, const uint8_t *payload, const uint16_t len write(_fd, (const void *)payload, length); write(_fd, (const void *)&checksum, sizeof(checksum)); } + +uint32_t +UBX::fnv1_32_str(uint8_t *str, uint32_t hval) +{ + uint8_t *s = str; + + /* + * FNV-1 hash each octet in the buffer + */ + while (*s) { + + /* multiply by the 32 bit FNV magic prime mod 2^32 */ +#if defined(NO_FNV_GCC_OPTIMIZATION) + hval *= FNV1_32_PRIME; +#else + hval += (hval<<1) + (hval<<4) + (hval<<7) + (hval<<8) + (hval<<24); +#endif + + /* xor the bottom with the current octet */ + hval ^= (uint32_t)*s++; + } + + /* return our new hash value */ + return hval; +} + diff --git a/src/drivers/gps/ubx.h b/src/drivers/gps/ubx.h index c8c89dfadd..f01b697a3b 100644 --- a/src/drivers/gps/ubx.h +++ b/src/drivers/gps/ubx.h @@ -452,6 +452,11 @@ private: */ int wait_for_ack(const uint16_t msg, const unsigned timeout, const bool report); + /** + * Calculate FNV1 hash + */ + uint32_t fnv1_32_str(uint8_t *str, uint32_t hval); + int _fd; struct vehicle_gps_position_s *_gps_position; struct satellite_info_s *_satellite_info; @@ -470,8 +475,7 @@ private: hrt_abstime _disable_cmd_last; uint16_t _ack_waiting_msg; ubx_buf_t _buf; - char _ubx_sw_version[30]; - char _ubx_hw_version[10]; + uint32_t _ubx_version; }; #endif /* UBX_H_ */ From f1a5be1f57d9a15f29a428e962c3ed7f75777d22 Mon Sep 17 00:00:00 2001 From: Kynos Date: Sat, 21 Jun 2014 20:42:33 +0200 Subject: [PATCH 23/67] Define NAV-PVT message --- src/drivers/gps/ubx.h | 50 +++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 50 insertions(+) diff --git a/src/drivers/gps/ubx.h b/src/drivers/gps/ubx.h index f01b697a3b..1a9e7cb0c9 100644 --- a/src/drivers/gps/ubx.h +++ b/src/drivers/gps/ubx.h @@ -63,6 +63,7 @@ /* Message IDs */ #define UBX_ID_NAV_POSLLH 0x02 #define UBX_ID_NAV_SOL 0x06 +#define UBX_ID_NAV_PVT 0x07 #define UBX_ID_NAV_VELNED 0x12 #define UBX_ID_NAV_TIMEUTC 0x21 #define UBX_ID_NAV_SVINFO 0x30 @@ -78,6 +79,7 @@ /* Message Classes & IDs */ #define UBX_MSG_NAV_POSLLH ((UBX_CLASS_NAV) | UBX_ID_NAV_POSLLH << 8) #define UBX_MSG_NAV_SOL ((UBX_CLASS_NAV) | UBX_ID_NAV_SOL << 8) +#define UBX_MSG_NAV_PVT ((UBX_CLASS_NAV) | UBX_ID_NAV_PVT << 8) #define UBX_MSG_NAV_VELNED ((UBX_CLASS_NAV) | UBX_ID_NAV_VELNED << 8) #define UBX_MSG_NAV_TIMEUTC ((UBX_CLASS_NAV) | UBX_ID_NAV_TIMEUTC << 8) #define UBX_MSG_NAV_SVINFO ((UBX_CLASS_NAV) | UBX_ID_NAV_SVINFO << 8) @@ -90,6 +92,18 @@ #define UBX_MSG_MON_HW ((UBX_CLASS_MON) | UBX_ID_MON_HW << 8) #define UBX_MSG_MON_VER ((UBX_CLASS_MON) | UBX_ID_MON_VER << 8) +/* RX NAV-PVT message content details */ +/* Bitfield "valid" masks */ +#define UBX_RX_NAV_PVT_VALID_VALIDDATE 0x01 /**< validDate (Valid UTC Date) */ +#define UBX_RX_NAV_PVT_VALID_VALIDTIME 0x02 /**< validTime (Valid UTC Time) */ +#define UBX_RX_NAV_PVT_VALID_FULLYRESOLVED 0x04 /**< fullyResolved (1 = UTC Time of Day has been fully resolved (no seconds uncertainty)) */ + +/* Bitfield "flags" masks */ +#define UBX_RX_NAV_PVT_FLAGS_GNSSFIXOK 0x01 /**< gnssFixOK (A valid fix (i.e within DOP & accuracy masks)) */ +#define UBX_RX_NAV_PVT_FLAGS_DIFFSOLN 0x02 /**< diffSoln (1 if differential corrections were applied) */ +#define UBX_RX_NAV_PVT_FLAGS_PSMSTATE 0x1C /**< psmState (Power Save Mode state (see Power Management)) */ +#define UBX_RX_NAV_PVT_FLAGS_HEADVEHVALID 0x20 /**< headVehValid (Heading of vehicle is valid) */ + /* TX CFG-PRT message contents */ #define UBX_TX_CFG_PRT_PORTID 0x01 /**< UART1 */ #define UBX_TX_CFG_PRT_MODE 0x000008D0 /**< 0b0000100011010000: 8N1 */ @@ -162,6 +176,42 @@ typedef struct { uint32_t reserved2; } ubx_payload_rx_nav_sol_t; +/* Rx NAV-PVT */ +typedef struct { + uint32_t iTOW; /**< GPS Time of Week [ms] */ + uint16_t year; /**< Year (UTC)*/ + uint8_t month; /**< Month, range 1..12 (UTC) */ + uint8_t day; /**< Day of month, range 1..31 (UTC) */ + uint8_t hour; /**< Hour of day, range 0..23 (UTC) */ + uint8_t min; /**< Minute of hour, range 0..59 (UTC) */ + uint8_t sec; /**< Seconds of minute, range 0..60 (UTC) */ + uint8_t valid; /**< Validity flags (see UBX_RX_NAV_PVT_VALID_...) */ + uint32_t tAcc; /**< Time accuracy estimate (UTC) [ns] */ + int32_t nano; /**< Fraction of second (UTC) [-1e9...1e9 ns] */ + uint8_t fixType; /**< GNSSfix type: 0 = No fix, 1 = Dead Reckoning only, 2 = 2D fix, 3 = 3d-fix, 4 = GNSS + dead reckoning, 5 = time only fix */ + uint8_t flags; /**< Fix Status Flags (see UBX_RX_NAV_PVT_FLAGS_...) */ + uint8_t reserved1; + uint8_t numSV; /**< Number of SVs used in Nav Solution */ + int32_t lon; /**< Longitude [1e-7 deg] */ + int32_t lat; /**< Latitude [1e-7 deg] */ + int32_t height; /**< Height above ellipsoid [mm] */ + int32_t hMSL; /**< Height above mean sea level [mm] */ + uint32_t hAcc; /**< Horizontal accuracy estimate [mm] */ + uint32_t vAcc; /**< Vertical accuracy estimate [mm] */ + int32_t velN; /**< NED north velocity [mm/s]*/ + int32_t velE; /**< NED east velocity [mm/s]*/ + int32_t velD; /**< NED down velocity [mm/s]*/ + int32_t gSpeed; /**< Ground Speed (2-D) [mm/s] */ + int32_t headMot; /**< Heading of motion (2-D) [1e-5 deg] */ + uint32_t sAcc; /**< Speed accuracy estimate [mm/s] */ + uint32_t headAcc; /**< Heading accuracy estimate (motion and vehicle) [1e-5 deg] */ + uint16_t pDOP; /**< Position DOP [0.01] */ + uint16_t reserved2; + uint32_t reserved3; + int32_t headVeh; /**< Heading of vehicle (2-D) [1e-5 deg] */ + uint32_t reserved4; +} ubx_payload_rx_nav_pvt_t; + /* Rx NAV-TIMEUTC */ typedef struct { uint32_t iTOW; /**< GPS Time of Week [ms] */ From 179bace35aaa32a23ebd7a9cb99d54eae53690f5 Mon Sep 17 00:00:00 2001 From: Antonio Sanniravong Date: Tue, 24 Jun 2014 07:47:16 -0400 Subject: [PATCH 24/67] Resets XY velocities when we can't estimate them --- .../position_estimator_inav/position_estimator_inav_main.c | 7 +++++++ .../position_estimator_inav_params.c | 3 +++ .../position_estimator_inav_params.h | 2 ++ 3 files changed, 12 insertions(+) diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index f908d7a3be..5f132453bf 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -916,6 +916,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) memcpy(x_est_prev, x_est, sizeof(x_est)); memcpy(y_est_prev, y_est, sizeof(y_est)); } + } else { + /* gradually reset xy velocity estimates */ + inertial_filter_correct(-x_est[1], dt, x_est, 1, params.w_xy_reset_v); + inertial_filter_correct(-y_est[1], dt, y_est, 1, params.w_xy_reset_v); } /* detect land */ @@ -931,6 +935,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) landed = false; landed_time = 0; } + /* reset xy velocity estimates when landed */ + x_est[1] = 0.0f; + y_est[1] = 0.0f; } else { if (alt_disp2 < land_disp2 && thrust < params.land_thr) { diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.c b/src/modules/position_estimator_inav/position_estimator_inav_params.c index d88419c258..b79e002745 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c @@ -46,6 +46,7 @@ PARAM_DEFINE_FLOAT(INAV_W_Z_SONAR, 3.0f); PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_P, 1.0f); PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_V, 2.0f); PARAM_DEFINE_FLOAT(INAV_W_XY_FLOW, 5.0f); +PARAM_DEFINE_FLOAT(INAV_W_XY_RESET_V, 0.2f); PARAM_DEFINE_FLOAT(INAV_W_GPS_FLOW, 0.1f); PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.05f); PARAM_DEFINE_FLOAT(INAV_FLOW_K, 0.15f); @@ -65,6 +66,7 @@ int parameters_init(struct position_estimator_inav_param_handles *h) h->w_xy_gps_p = param_find("INAV_W_XY_GPS_P"); h->w_xy_gps_v = param_find("INAV_W_XY_GPS_V"); h->w_xy_flow = param_find("INAV_W_XY_FLOW"); + h->w_xy_reset_v = param_find("INAV_W_XY_RESET_V"); h->w_gps_flow = param_find("INAV_W_GPS_FLOW"); h->w_acc_bias = param_find("INAV_W_ACC_BIAS"); h->flow_k = param_find("INAV_FLOW_K"); @@ -87,6 +89,7 @@ int parameters_update(const struct position_estimator_inav_param_handles *h, str param_get(h->w_xy_gps_p, &(p->w_xy_gps_p)); param_get(h->w_xy_gps_v, &(p->w_xy_gps_v)); param_get(h->w_xy_flow, &(p->w_xy_flow)); + param_get(h->w_xy_reset_v, &(p->w_xy_reset_v)); param_get(h->w_gps_flow, &(p->w_gps_flow)); param_get(h->w_acc_bias, &(p->w_acc_bias)); param_get(h->flow_k, &(p->flow_k)); diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.h b/src/modules/position_estimator_inav/position_estimator_inav_params.h index df1cfaa710..9be13637dc 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.h +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.h @@ -47,6 +47,7 @@ struct position_estimator_inav_params { float w_xy_gps_p; float w_xy_gps_v; float w_xy_flow; + float w_xy_reset_v; float w_gps_flow; float w_acc_bias; float flow_k; @@ -66,6 +67,7 @@ struct position_estimator_inav_param_handles { param_t w_xy_gps_p; param_t w_xy_gps_v; param_t w_xy_flow; + param_t w_xy_reset_v; param_t w_gps_flow; param_t w_acc_bias; param_t flow_k; From 571e139c24464902470901501c5bbfb618c1258c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 24 Jun 2014 21:33:03 +0200 Subject: [PATCH 25/67] commander: Formatting and logic flow cleanup, no functional change --- .../commander/state_machine_helper.cpp | 24 ++++++++++++------- 1 file changed, 15 insertions(+), 9 deletions(-) diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 87309b238a..1a5a52a02e 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -1,8 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler - * Julian Oes + * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -36,6 +34,9 @@ /** * @file state_machine_helper.cpp * State machine helper functions implementations + * + * @author Thomas Gubler + * @author Julian Oes */ #include @@ -133,15 +134,20 @@ arming_state_transition(struct vehicle_status_s *status, /// current if (valid_transition) { // We have a good transition. Now perform any secondary validation. if (new_arming_state == ARMING_STATE_ARMED) { - // Fail transition if we need safety switch press // Allow if coming from in air restore // Allow if HIL_STATE_ON - if (status->arming_state != ARMING_STATE_IN_AIR_RESTORE && status->hil_state == HIL_STATE_OFF && safety->safety_switch_available && !safety->safety_off) { - if (mavlink_fd) { - mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Press safety switch first."); - } + if (status->arming_state != ARMING_STATE_IN_AIR_RESTORE && + status->hil_state == HIL_STATE_OFF) { - valid_transition = false; + // Fail transition if we need safety switch press + if (safety->safety_switch_available && !safety->safety_off) { + + if (mavlink_fd) { + mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Press safety switch first."); + } + + valid_transition = false; + } } } else if (new_arming_state == ARMING_STATE_STANDBY && status->arming_state == ARMING_STATE_ARMED_ERROR) { From b1f223b468ab5ff73c6a39749dbaf43f2f46a90b Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 24 Jun 2014 22:22:56 +0200 Subject: [PATCH 26/67] commander: Default all leds to off --- src/modules/commander/commander_helper.cpp | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp index 940a04aa1f..80e6861f61 100644 --- a/src/modules/commander/commander_helper.cpp +++ b/src/modules/commander/commander_helper.cpp @@ -209,12 +209,18 @@ int led_init() /* the blue LED is only available on FMUv1 & AeroCore but not FMUv2 */ (void)ioctl(leds, LED_ON, LED_BLUE); + /* switch blue off */ + led_off(LED_BLUE); + /* we consider the amber led mandatory */ if (ioctl(leds, LED_ON, LED_AMBER)) { warnx("Amber LED: ioctl fail\n"); return ERROR; } + /* switch amber off */ + led_off(LED_AMBER); + /* then try RGB LEDs, this can fail on FMUv1*/ rgbleds = open(RGBLED_DEVICE_PATH, 0); From 211c721b48c5856ace7f09e88706d799299ca6bb Mon Sep 17 00:00:00 2001 From: Antonio Sanniravong Date: Tue, 24 Jun 2014 17:42:25 -0400 Subject: [PATCH 27/67] Shorten the reset param name to INAV_W_XY_RES_V --- .../position_estimator_inav/position_estimator_inav_main.c | 4 ++-- .../position_estimator_inav_params.c | 6 +++--- .../position_estimator_inav_params.h | 4 ++-- 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index 5f132453bf..eca406acfd 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -918,8 +918,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) } } else { /* gradually reset xy velocity estimates */ - inertial_filter_correct(-x_est[1], dt, x_est, 1, params.w_xy_reset_v); - inertial_filter_correct(-y_est[1], dt, y_est, 1, params.w_xy_reset_v); + inertial_filter_correct(-x_est[1], dt, x_est, 1, params.w_xy_res_v); + inertial_filter_correct(-y_est[1], dt, y_est, 1, params.w_xy_res_v); } /* detect land */ diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.c b/src/modules/position_estimator_inav/position_estimator_inav_params.c index b79e002745..47c1a4c6c9 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c @@ -46,7 +46,7 @@ PARAM_DEFINE_FLOAT(INAV_W_Z_SONAR, 3.0f); PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_P, 1.0f); PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_V, 2.0f); PARAM_DEFINE_FLOAT(INAV_W_XY_FLOW, 5.0f); -PARAM_DEFINE_FLOAT(INAV_W_XY_RESET_V, 0.2f); +PARAM_DEFINE_FLOAT(INAV_W_XY_RES_V, 0.2f); PARAM_DEFINE_FLOAT(INAV_W_GPS_FLOW, 0.1f); PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.05f); PARAM_DEFINE_FLOAT(INAV_FLOW_K, 0.15f); @@ -66,7 +66,7 @@ int parameters_init(struct position_estimator_inav_param_handles *h) h->w_xy_gps_p = param_find("INAV_W_XY_GPS_P"); h->w_xy_gps_v = param_find("INAV_W_XY_GPS_V"); h->w_xy_flow = param_find("INAV_W_XY_FLOW"); - h->w_xy_reset_v = param_find("INAV_W_XY_RESET_V"); + h->w_xy_res_v = param_find("INAV_W_XY_RES_V"); h->w_gps_flow = param_find("INAV_W_GPS_FLOW"); h->w_acc_bias = param_find("INAV_W_ACC_BIAS"); h->flow_k = param_find("INAV_FLOW_K"); @@ -89,7 +89,7 @@ int parameters_update(const struct position_estimator_inav_param_handles *h, str param_get(h->w_xy_gps_p, &(p->w_xy_gps_p)); param_get(h->w_xy_gps_v, &(p->w_xy_gps_v)); param_get(h->w_xy_flow, &(p->w_xy_flow)); - param_get(h->w_xy_reset_v, &(p->w_xy_reset_v)); + param_get(h->w_xy_res_v, &(p->w_xy_res_v)); param_get(h->w_gps_flow, &(p->w_gps_flow)); param_get(h->w_acc_bias, &(p->w_acc_bias)); param_get(h->flow_k, &(p->flow_k)); diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.h b/src/modules/position_estimator_inav/position_estimator_inav_params.h index 9be13637dc..423f0d8793 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.h +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.h @@ -47,7 +47,7 @@ struct position_estimator_inav_params { float w_xy_gps_p; float w_xy_gps_v; float w_xy_flow; - float w_xy_reset_v; + float w_xy_res_v; float w_gps_flow; float w_acc_bias; float flow_k; @@ -67,7 +67,7 @@ struct position_estimator_inav_param_handles { param_t w_xy_gps_p; param_t w_xy_gps_v; param_t w_xy_flow; - param_t w_xy_reset_v; + param_t w_xy_res_v; param_t w_gps_flow; param_t w_acc_bias; param_t flow_k; From 7a45888e78b4af0c04014c20e579797b2040edf8 Mon Sep 17 00:00:00 2001 From: Antonio Sanniravong Date: Tue, 24 Jun 2014 17:56:36 -0400 Subject: [PATCH 28/67] Adjusted default reset param value to reset quicker --- .../position_estimator_inav/position_estimator_inav_params.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.c b/src/modules/position_estimator_inav/position_estimator_inav_params.c index 47c1a4c6c9..0581f8236b 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c @@ -46,7 +46,7 @@ PARAM_DEFINE_FLOAT(INAV_W_Z_SONAR, 3.0f); PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_P, 1.0f); PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_V, 2.0f); PARAM_DEFINE_FLOAT(INAV_W_XY_FLOW, 5.0f); -PARAM_DEFINE_FLOAT(INAV_W_XY_RES_V, 0.2f); +PARAM_DEFINE_FLOAT(INAV_W_XY_RES_V, 0.5f); PARAM_DEFINE_FLOAT(INAV_W_GPS_FLOW, 0.1f); PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.05f); PARAM_DEFINE_FLOAT(INAV_FLOW_K, 0.15f); From 1cd82fc89c70060947683851af28556bccd675a1 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 26 Jun 2014 12:07:28 +0200 Subject: [PATCH 29/67] Add mavlink_fd to all commander arm transitions to provide user feedback why the arming command failed --- src/modules/commander/commander.cpp | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 65922b2a5d..588f48225c 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -412,7 +412,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe /* if HIL got enabled, reset battery status state */ if (hil_ret == OK && status->hil_state == HIL_STATE_ON) { /* reset the arming mode to disarmed */ - arming_res = arming_state_transition(status, safety, ARMING_STATE_STANDBY, armed); + arming_res = arming_state_transition(status, safety, ARMING_STATE_STANDBY, armed, mavlink_fd); if (arming_res != TRANSITION_DENIED) { mavlink_log_info(mavlink_fd, "[cmd] HIL: Reset ARMED state to standby"); @@ -945,8 +945,8 @@ int commander_thread_main(int argc, char *argv[]) if (status.hil_state == HIL_STATE_OFF && safety.safety_switch_available && !safety.safety_off && armed.armed) { arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR); - if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed)) { - mavlink_log_info(mavlink_fd, "[cmd] DISARMED by safety switch"); + if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed, mavlink_fd)) { + mavlink_log_info(mavlink_fd, "#audio DISARMED by safety switch"); } } } @@ -1149,10 +1149,10 @@ int commander_thread_main(int argc, char *argv[]) status.battery_warning = VEHICLE_BATTERY_WARNING_CRITICAL; if (armed.armed) { - arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed); + arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed, mavlink_fd); } else { - arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed); + arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed, mavlink_fd); } status_changed = true; @@ -1163,7 +1163,7 @@ int commander_thread_main(int argc, char *argv[]) /* If in INIT state, try to proceed to STANDBY state */ if (status.arming_state == ARMING_STATE_INIT && low_prio_task == LOW_PRIO_TASK_NONE) { // XXX check for sensors - arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed); + arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed, mavlink_fd); } else { // XXX: Add emergency stuff if sensors are lost @@ -1217,7 +1217,7 @@ int commander_thread_main(int argc, char *argv[]) if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) { /* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */ arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR); - arming_res = arming_state_transition(&status, &safety, new_arming_state, &armed); + arming_res = arming_state_transition(&status, &safety, new_arming_state, &armed, mavlink_fd); stick_off_counter = 0; } else { @@ -1239,7 +1239,7 @@ int commander_thread_main(int argc, char *argv[]) print_reject_arm("#audio: NOT ARMING: Switch to MANUAL mode first."); } else { - arming_res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed); + arming_res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed, mavlink_fd); } stick_on_counter = 0; @@ -1941,7 +1941,7 @@ void *commander_low_prio_loop(void *arg) /* try to go to INIT/PREFLIGHT arming state */ // XXX disable interrupts in arming_state_transition - if (TRANSITION_DENIED == arming_state_transition(&status, &safety, ARMING_STATE_INIT, &armed)) { + if (TRANSITION_DENIED == arming_state_transition(&status, &safety, ARMING_STATE_INIT, &armed, mavlink_fd)) { answer_command(cmd, VEHICLE_CMD_RESULT_DENIED); break; } @@ -2004,7 +2004,7 @@ void *commander_low_prio_loop(void *arg) tune_negative(true); } - arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed); + arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed, mavlink_fd); break; } From 435cacb0a0c42b9995edc57cc33e68ff324e6106 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 26 Jun 2014 12:08:25 +0200 Subject: [PATCH 30/67] commander: Make mavlink_fd in arming command non-optional --- src/modules/commander/state_machine_helper.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h index 0ddd4f05a2..abb9178732 100644 --- a/src/modules/commander/state_machine_helper.h +++ b/src/modules/commander/state_machine_helper.h @@ -57,7 +57,7 @@ typedef enum { } transition_result_t; transition_result_t arming_state_transition(struct vehicle_status_s *current_state, const struct safety_s *safety, - arming_state_t new_arming_state, struct actuator_armed_s *armed, const int mavlink_fd = 0); + arming_state_t new_arming_state, struct actuator_armed_s *armed, const int mavlink_fd); bool is_safe(const struct vehicle_status_s *current_state, const struct safety_s *safety, const struct actuator_armed_s *armed); From a1132580c55512a56ec7646f757099409ebad781 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 26 Jun 2014 12:11:39 +0200 Subject: [PATCH 31/67] commander: Add pre-arm check for main sensors. --- .../commander/state_machine_helper.cpp | 137 +++++++++++++++--- 1 file changed, 119 insertions(+), 18 deletions(-) diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 1a5a52a02e..6816d46ab7 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -46,14 +46,18 @@ #include #include #include +#include #include #include #include +#include #include #include #include #include +#include +#include #include #include @@ -66,6 +70,8 @@ #endif static const int ERROR = -1; +static int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd); + static bool arming_state_changed = true; static bool main_state_changed = true; static bool failsafe_state_changed = true; @@ -108,18 +114,31 @@ arming_state_transition(struct vehicle_status_s *status, /// current ASSERT(ARMING_STATE_INIT == 0); ASSERT(ARMING_STATE_IN_AIR_RESTORE == ARMING_STATE_MAX - 1); - /* - * Perform an atomic state update - */ - irqstate_t flags = irqsave(); - transition_result_t ret = TRANSITION_DENIED; + arming_state_t current_arming_state = status->arming_state; + /* only check transition if the new state is actually different from the current one */ - if (new_arming_state == status->arming_state) { + if (new_arming_state == current_arming_state) { ret = TRANSITION_NOT_CHANGED; } else { + + /* + * Get sensing state if necessary + */ + int prearm_ret = OK; + + /* only perform the check if we have to */ + if (new_arming_state == ARMING_STATE_ARMED) { + prearm_ret = prearm_check(status, mavlink_fd); + } + + /* + * Perform an atomic state update + */ + irqstate_t flags = irqsave(); + /* enforce lockdown in HIL */ if (status->hil_state == HIL_STATE_ON) { armed->lockdown = true; @@ -139,12 +158,14 @@ arming_state_transition(struct vehicle_status_s *status, /// current if (status->arming_state != ARMING_STATE_IN_AIR_RESTORE && status->hil_state == HIL_STATE_OFF) { - // Fail transition if we need safety switch press - if (safety->safety_switch_available && !safety->safety_off) { + // Fail transition if pre-arm check fails + if (prearm_ret) { + valid_transition = false; - if (mavlink_fd) { - mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Press safety switch first."); - } + // Fail transition if we need safety switch press + } else if (safety->safety_switch_available && !safety->safety_off) { + + mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Press safety switch!"); valid_transition = false; } @@ -173,17 +194,15 @@ arming_state_transition(struct vehicle_status_s *status, /// current status->arming_state = new_arming_state; arming_state_changed = true; } + + /* end of atomic state update */ + irqrestore(flags); } - /* end of atomic state update */ - irqrestore(flags); - if (ret == TRANSITION_DENIED) { - static const char *errMsg = "Invalid arming transition from %s to %s"; + static const char *errMsg = "INVAL: %s - %s"; - if (mavlink_fd) { - mavlink_log_critical(mavlink_fd, errMsg, state_names[status->arming_state], state_names[new_arming_state]); - } + mavlink_log_critical(mavlink_fd, errMsg, state_names[status->arming_state], state_names[new_arming_state]); warnx(errMsg, state_names[status->arming_state], state_names[new_arming_state]); } @@ -496,6 +515,88 @@ transition_result_t failsafe_state_transition(struct vehicle_status_s *status, f return ret; } +int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd) +{ + warnx("PREARM"); + + int ret; + + int fd = open(ACCEL_DEVICE_PATH, O_RDONLY); + + if (fd < 0) { + mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL SENSOR MISSING"); + ret = fd; + goto system_eval; + } + + ret = ioctl(fd, ACCELIOCSELFTEST, 0); + + if (ret != OK) { + mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL CALIBRATION"); + goto system_eval; + } + + /* check measurement result range */ + struct accel_report acc; + ret = read(fd, &acc, sizeof(acc)); + + if (ret == sizeof(acc)) { + /* evaluate values */ + float accel_scale = sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z); + + if (accel_scale < 9.78f || accel_scale > 9.83f) { + mavlink_log_info(mavlink_fd, "#audio: Accelerometer calibration recommended."); + } + + if (accel_scale > 30.0f /* m/s^2 */) { + mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL RANGE"); + /* this is frickin' fatal */ + ret = ERROR; + goto system_eval; + } else { + ret = OK; + } + } else { + mavlink_log_critical(mavlink_fd, "#audio: FAIL: ACCEL READ"); + /* this is frickin' fatal */ + ret = ERROR; + goto system_eval; + } + + if (!status->is_rotary_wing) { + int fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY); + + if (fd < 0) { + mavlink_log_critical(mavlink_fd, "#audio: FAIL: AIRSPEED SENSOR MISSING"); + ret = fd; + goto system_eval; + } + + struct differential_pressure_s diff_pres; + + ret = read(fd, &diff_pres, sizeof(diff_pres)); + + if (ret == sizeof(diff_pres)) { + if (fabsf(diff_pres.differential_pressure_filtered_pa > 5.0f)) { + mavlink_log_critical(mavlink_fd, "#audio: WARNING AIRSPEED CALIBRATION MISSING"); + // XXX do not make this fatal yet + ret = OK; + } + } else { + mavlink_log_critical(mavlink_fd, "#audio: FAIL: AIRSPEED READ"); + /* this is frickin' fatal */ + ret = ERROR; + goto system_eval; + } + } + + warnx("PRE RES: %d", ret); + +system_eval: + close(fd); + return ret; +} + // /* From 690edbd6723746699067f69fd3c76d4d3806d9c3 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 26 Jun 2014 12:14:49 +0200 Subject: [PATCH 32/67] Remove duplicate code in the arming check --- src/modules/commander/commander.cpp | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 588f48225c..8e93523948 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1232,12 +1232,13 @@ int commander_thread_main(int argc, char *argv[]) if (status.arming_state == ARMING_STATE_STANDBY && sp_man.r > STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) { if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) { - if (safety.safety_switch_available && !safety.safety_off && status.hil_state == HIL_STATE_OFF) { - print_reject_arm("#audio: NOT ARMING: Press safety switch first."); - } else if (status.main_state != MAIN_STATE_MANUAL) { + /* we check outside of the transition function here because the requirement + * for being in manual mode only applies to manual arming actions. + * the system can be armed in auto if armed via the GCS. + */ + if (status.main_state != MAIN_STATE_MANUAL) { print_reject_arm("#audio: NOT ARMING: Switch to MANUAL mode first."); - } else { arming_res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed, mavlink_fd); } From b20d0c0f015fb62955f7a399b50626a0d57c5f64 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 26 Jun 2014 12:36:43 +0200 Subject: [PATCH 33/67] commander: Remove prearm test print statements --- src/modules/commander/state_machine_helper.cpp | 4 ---- 1 file changed, 4 deletions(-) diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 6816d46ab7..8ce724b4c1 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -517,8 +517,6 @@ transition_result_t failsafe_state_transition(struct vehicle_status_s *status, f int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd) { - warnx("PREARM"); - int ret; int fd = open(ACCEL_DEVICE_PATH, O_RDONLY); @@ -590,8 +588,6 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd) } } - warnx("PRE RES: %d", ret); - system_eval: close(fd); return ret; From 43b9d96cf4306bc472d16956f5437dbef7c630c0 Mon Sep 17 00:00:00 2001 From: Kynos Date: Mon, 30 Jun 2014 01:55:40 +0200 Subject: [PATCH 34/67] Merged upstream master, add missing change --- src/modules/mavlink/mavlink_messages.cpp | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 472e2810d1..06c2e737ee 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -669,16 +669,16 @@ protected: if (gps_sub->update(&gps_time, &gps)) { mavlink_msg_gps_raw_int_send(_channel, - gps->timestamp_position, - gps->fix_type, - gps->lat, - gps->lon, - gps->alt, - cm_uint16_from_m_float(gps->eph), - cm_uint16_from_m_float(gps->epv), - gps->vel_m_s * 100.0f, - _wrap_2pi(gps->cog_rad) * M_RAD_TO_DEG_F * 1e2f, - gps->satellites_used); + gps.timestamp_position, + gps.fix_type, + gps.lat, + gps.lon, + gps.alt, + cm_uint16_from_m_float(gps.eph), + cm_uint16_from_m_float(gps.epv), + gps.vel_m_s * 100.0f, + _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F * 1e2f, + gps.satellites_used); } } }; From b9e2fa2c0dc77e41846b6982f057cbbc9e60be89 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Mon, 30 Jun 2014 12:03:48 +0200 Subject: [PATCH 35/67] mc_pos_control: compiler warning fix --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index c24c172af1..bcc3e2ae73 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -466,7 +466,7 @@ MulticopterPositionControl::update_ref() { if (_local_pos.ref_timestamp != _ref_timestamp) { double lat_sp, lon_sp; - float alt_sp; + float alt_sp = 0.0f; if (_ref_timestamp != 0) { /* calculate current position setpoint in global frame */ From 8e41cbfdfa2083c421954b6d9aadde5c0e508cdc Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 30 Jun 2014 12:18:38 +0200 Subject: [PATCH 36/67] mavlink: Warning fixes --- src/modules/mavlink/mavlink_main.cpp | 4 ++-- src/modules/mavlink/mavlink_main.h | 12 ++++++------ src/modules/mavlink/mavlink_stream.cpp | 4 ++-- 3 files changed, 10 insertions(+), 10 deletions(-) diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 43acee96f7..026a4d6c98 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -474,7 +474,7 @@ Mavlink::get_instance_id() return _instance_id; } -const mavlink_channel_t +mavlink_channel_t Mavlink::get_channel() { return _channel; @@ -2109,7 +2109,7 @@ Mavlink::task_main(int argc, char *argv[]) write_ptr = (uint8_t*)&msg; // Pull a single message from the buffer - int read_count = available; + size_t read_count = available; if (read_count > sizeof(mavlink_message_t)) { read_count = sizeof(mavlink_message_t); } diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h index 5f4117ae5f..f94036a17f 100644 --- a/src/modules/mavlink/mavlink_main.h +++ b/src/modules/mavlink/mavlink_main.h @@ -213,15 +213,15 @@ public: */ int enable_flow_control(bool enabled); - const mavlink_channel_t get_channel(); + mavlink_channel_t get_channel(); - void configure_stream_threadsafe(const char *stream_name, const float rate); + void configure_stream_threadsafe(const char *stream_name, float rate); bool _task_should_exit; /**< if true, mavlink task should exit */ int get_mavlink_fd() { return _mavlink_fd; } - MavlinkStream * get_streams() { return _streams; } const + MavlinkStream * get_streams() const { return _streams; } /* Functions for waiting to start transmission until message received. */ @@ -311,15 +311,15 @@ private: pthread_mutex_t _message_buffer_mutex; - perf_counter_t _loop_perf; /**< loop performance counter */ - perf_counter_t _txerr_perf; /**< TX error counter */ - bool _param_initialized; param_t _param_system_id; param_t _param_component_id; param_t _param_system_type; param_t _param_use_hil_gps; + perf_counter_t _loop_perf; /**< loop performance counter */ + perf_counter_t _txerr_perf; /**< TX error counter */ + /** * Send one parameter. * diff --git a/src/modules/mavlink/mavlink_stream.cpp b/src/modules/mavlink/mavlink_stream.cpp index ed6776e5cc..7279206dbb 100644 --- a/src/modules/mavlink/mavlink_stream.cpp +++ b/src/modules/mavlink/mavlink_stream.cpp @@ -44,10 +44,10 @@ #include "mavlink_main.h" MavlinkStream::MavlinkStream() : - _last_sent(0), + next(nullptr), _channel(MAVLINK_COMM_0), _interval(1000000), - next(nullptr) + _last_sent(0) { } From 3f6851b9879c2e4d764926a3bc29ff800a17b73d Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 30 Jun 2014 12:19:08 +0200 Subject: [PATCH 37/67] Re-send the RC config warnings once the GCS is connected, fixed compile warnings --- .../commander/accelerometer_calibration.cpp | 3 ++- .../commander/calibration_routines.cpp | 7 ++--- src/modules/commander/commander.cpp | 26 +++++++++++++++---- 3 files changed, 27 insertions(+), 9 deletions(-) diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp index 24da452b1e..be465ab766 100644 --- a/src/modules/commander/accelerometer_calibration.cpp +++ b/src/modules/commander/accelerometer_calibration.cpp @@ -131,6 +131,7 @@ #include #include #include +#include #include #include #include @@ -526,7 +527,7 @@ int mat_invert3(float src[3][3], float dst[3][3]) src[0][1] * (src[1][0] * src[2][2] - src[1][2] * src[2][0]) + src[0][2] * (src[1][0] * src[2][1] - src[1][1] * src[2][0]); - if (det == 0.0f) { + if (fabsf(det) < FLT_EPSILON) { return ERROR; // Singular matrix } diff --git a/src/modules/commander/calibration_routines.cpp b/src/modules/commander/calibration_routines.cpp index 9d79124e7c..43f341ae7a 100644 --- a/src/modules/commander/calibration_routines.cpp +++ b/src/modules/commander/calibration_routines.cpp @@ -40,6 +40,7 @@ */ #include +#include #include "calibration_routines.h" @@ -179,9 +180,9 @@ int sphere_fit_least_squares(const float x[], const float y[], const float z[], aA = Q2 + 16.0f * (A2 - 2.0f * A * x_sum + x_sum2); aB = Q2 + 16.0f * (B2 - 2.0f * B * y_sum + y_sum2); aC = Q2 + 16.0f * (C2 - 2.0f * C * z_sum + z_sum2); - aA = (aA == 0.0f) ? 1.0f : aA; - aB = (aB == 0.0f) ? 1.0f : aB; - aC = (aC == 0.0f) ? 1.0f : aC; + aA = (fabsf(aA) < FLT_EPSILON) ? 1.0f : aA; + aB = (fabsf(aB) < FLT_EPSILON) ? 1.0f : aB; + aC = (fabsf(aC) < FLT_EPSILON) ? 1.0f : aC; //Compute next iteration nA = A - ((F2 + 16.0f * (B * XY + C * XZ + x_sum * (-A2 - Q0) + A * (x_sum2 + Q1 - C * z_sum - B * y_sum))) / aA); diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index bb42889ea0..ef4c18ea61 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -371,16 +371,16 @@ void print_status() static orb_advert_t status_pub; -transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char *armedBy) +transition_result_t arm_disarm(bool arm, const int mavlink_fd_local, const char *armedBy) { transition_result_t arming_res = TRANSITION_NOT_CHANGED; // Transition the armed state. By passing mavlink_fd to arming_state_transition it will // output appropriate error messages if the state cannot transition. - arming_res = arming_state_transition(&status, &safety, arm ? ARMING_STATE_ARMED : ARMING_STATE_STANDBY, &armed, mavlink_fd); + arming_res = arming_state_transition(&status, &safety, arm ? ARMING_STATE_ARMED : ARMING_STATE_STANDBY, &armed, mavlink_fd_local); if (arming_res == TRANSITION_CHANGED && mavlink_fd) { - mavlink_log_info(mavlink_fd, "[cmd] %s by %s", arm ? "ARMED" : "DISARMED", armedBy); + mavlink_log_info(mavlink_fd_local, "[cmd] %s by %s", arm ? "ARMED" : "DISARMED", armedBy); } else if (arming_res == TRANSITION_DENIED) { tune_negative(true); @@ -507,7 +507,14 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe cmd_result = VEHICLE_CMD_RESULT_ACCEPTED; } else { - mavlink_log_info(mavlink_fd, "Unsupported OVERRIDE_GOTO: %f %f %f %f %f %f %f %f", cmd->param1, cmd->param2, cmd->param3, cmd->param4, cmd->param5, cmd->param6, cmd->param7); + mavlink_log_info(mavlink_fd, "Unsupported OVERRIDE_GOTO: %f %f %f %f %f %f %f %f", + (double)cmd->param1, + (double)cmd->param2, + (double)cmd->param3, + (double)cmd->param4, + (double)cmd->param5, + (double)cmd->param6, + (double)cmd->param7); } } break; @@ -752,7 +759,6 @@ int commander_thread_main(int argc, char *argv[]) hrt_abstime last_idle_time = 0; hrt_abstime start_time = 0; - hrt_abstime last_auto_state_valid = 0; bool status_changed = true; bool param_init_forced = true; @@ -862,6 +868,7 @@ int commander_thread_main(int argc, char *argv[]) bool arming_state_changed = false; bool main_state_changed = false; bool failsafe_old = false; + bool system_checked = false; while (!thread_should_exit) { @@ -915,6 +922,15 @@ int commander_thread_main(int argc, char *argv[]) param_get(_param_enable_datalink_loss, &datalink_loss_enabled); } + /* Perform system checks (again) once params are loaded and MAVLink is up. */ + if (!system_checked && mavlink_fd && + (telemetry.heartbeat_time > 0) && + (hrt_elapsed_time(&telemetry.heartbeat_time) < 1 * 1000 * 1000)) { + + (void)rc_calibration_check(mavlink_fd); + system_checked = true; + } + orb_check(sp_man_sub, &updated); if (updated) { From ee8f4dcee639effe982bbb099a6f86f7c4fce5e0 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 30 Jun 2014 12:19:44 +0200 Subject: [PATCH 38/67] systemcmds: Warning fixes --- src/systemcmds/mtd/24xxxx_mtd.c | 4 +++- src/systemcmds/pwm/pwm.c | 3 ++- src/systemcmds/tests/test_conv.cpp | 2 +- src/systemcmds/tests/test_file.c | 3 ++- src/systemcmds/tests/test_float.c | 14 +++++++------- src/systemcmds/tests/test_mtd.c | 2 ++ 6 files changed, 17 insertions(+), 11 deletions(-) diff --git a/src/systemcmds/mtd/24xxxx_mtd.c b/src/systemcmds/mtd/24xxxx_mtd.c index a3f9dfffff..72200f4188 100644 --- a/src/systemcmds/mtd/24xxxx_mtd.c +++ b/src/systemcmds/mtd/24xxxx_mtd.c @@ -237,8 +237,10 @@ void at24c_test(void) } else if (result != 1) { vdbg("unexpected %u\n", result); } - if ((count % 100) == 0) + + if ((count % 100) == 0) { vdbg("test %u errors %u\n", count, errors); + } } } diff --git a/src/systemcmds/pwm/pwm.c b/src/systemcmds/pwm/pwm.c index 1828c660f8..e0e6ca5376 100644 --- a/src/systemcmds/pwm/pwm.c +++ b/src/systemcmds/pwm/pwm.c @@ -515,7 +515,8 @@ pwm_main(int argc, char *argv[]) ret = poll(&fds, 1, 0); if (ret > 0) { - int ret = read(0, &c, 1); + ret = read(0, &c, 1); + if (ret > 0) { /* reset output to the last value */ for (unsigned i = 0; i < servo_count; i++) { diff --git a/src/systemcmds/tests/test_conv.cpp b/src/systemcmds/tests/test_conv.cpp index 0ecdc8eb96..fda949c610 100644 --- a/src/systemcmds/tests/test_conv.cpp +++ b/src/systemcmds/tests/test_conv.cpp @@ -65,7 +65,7 @@ int test_conv(int argc, char *argv[]) float f = i/10000.0f; float fres = REG_TO_FLOAT(FLOAT_TO_REG(f)); if (fabsf(f - fres) > 0.0001f) { - warnx("conversion fail: input: %8.4f, intermediate: %d, result: %8.4f", f, REG_TO_SIGNED(FLOAT_TO_REG(f)), (double)fres); + warnx("conversion fail: input: %8.4f, intermediate: %d, result: %8.4f", (double)f, REG_TO_SIGNED(FLOAT_TO_REG(f)), (double)fres); return 1; } } diff --git a/src/systemcmds/tests/test_file.c b/src/systemcmds/tests/test_file.c index 86f23b4851..570583dee9 100644 --- a/src/systemcmds/tests/test_file.c +++ b/src/systemcmds/tests/test_file.c @@ -149,6 +149,8 @@ test_file(int argc, char *argv[]) } end = hrt_absolute_time(); + warnx("write took %llu us", (end - start)); + close(fd); fd = open("/fs/microsd/testfile", O_RDONLY); @@ -192,7 +194,6 @@ test_file(int argc, char *argv[]) warnx("testing aligned writes - please wait.. (CTRL^C to abort)"); - start = hrt_absolute_time(); for (unsigned i = 0; i < iterations; i++) { int wret = write(fd, write_buf, chunk_sizes[c]); diff --git a/src/systemcmds/tests/test_float.c b/src/systemcmds/tests/test_float.c index e33cc6ef71..bb8b6c7f5a 100644 --- a/src/systemcmds/tests/test_float.c +++ b/src/systemcmds/tests/test_float.c @@ -68,7 +68,7 @@ int test_float(int argc, char *argv[]) float sinf_one = sinf(1.0f); float sqrt_two = sqrt(2.0f); - if (sinf_zero == 0.0f) { + if (fabsf(sinf_zero) < FLT_EPSILON) { printf("\t success: sinf(0.0f) == 0.0f\n"); } else { @@ -136,7 +136,7 @@ int test_float(int argc, char *argv[]) ret = -2; } - if (sqrt_two == 1.41421356f) { + if (fabsf(sqrt_two - 1.41421356f) < FLT_EPSILON) { printf("\t success: sqrt(2.0f) == 1.41421f\n"); } else { @@ -188,7 +188,7 @@ int test_float(int argc, char *argv[]) double d1d2 = d1 * d2; - if (d1d2 == 2.022200000000000219557705349871) { + if (fabs(d1d2 - 2.022200000000000219557705349871) < DBL_EPSILON) { printf("\t success: 1.0111 * 2.0 == 2.0222\n"); } else { @@ -201,7 +201,7 @@ int test_float(int argc, char *argv[]) // Assign value of f1 to d1 d1 = f1; - if (f1 == (float)d1) { + if (fabsf(f1 - (float)d1) < FLT_EPSILON) { printf("\t success: (float) 1.55f == 1.55 (double)\n"); } else { @@ -216,7 +216,7 @@ int test_float(int argc, char *argv[]) double sin_one = sin(1.0); double atan2_ones = atan2(1.0, 1.0); - if (sin_zero == 0.0) { + if (fabs(sin_zero - 0.0) < DBL_EPSILON) { printf("\t success: sin(0.0) == 0.0\n"); } else { @@ -224,7 +224,7 @@ int test_float(int argc, char *argv[]) ret = -9; } - if (sin_one == 0.841470984807896504875657228695) { + if (fabs(sin_one - 0.841470984807896504875657228695) < DBL_EPSILON) { printf("\t success: sin(1.0) == 0.84147098480\n"); } else { @@ -232,7 +232,7 @@ int test_float(int argc, char *argv[]) ret = -10; } - if (atan2_ones != 0.785398) { + if (fabs(atan2_ones - 0.785398) < DBL_EPSILON) { printf("\t success: atan2(1.0, 1.0) == 0.785398\n"); } else { diff --git a/src/systemcmds/tests/test_mtd.c b/src/systemcmds/tests/test_mtd.c index cdb4362bad..43231ccad8 100644 --- a/src/systemcmds/tests/test_mtd.c +++ b/src/systemcmds/tests/test_mtd.c @@ -171,6 +171,8 @@ test_mtd(int argc, char *argv[]) } end = hrt_absolute_time(); + warnx("write took %llu us", (end - start)); + close(fd); fd = open(PARAM_FILE_NAME, O_RDONLY); From 35cd487a428a9c76609faa8ae0f99afdc376b5a1 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 30 Jun 2014 12:20:02 +0200 Subject: [PATCH 39/67] drivers: Warning fixes --- src/drivers/boards/px4fmu-v1/px4fmu_init.c | 2 +- src/drivers/boards/px4fmu-v1/px4fmu_led.c | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/drivers/boards/px4fmu-v1/px4fmu_init.c b/src/drivers/boards/px4fmu-v1/px4fmu_init.c index 4b12b75f9e..293021f8b2 100644 --- a/src/drivers/boards/px4fmu-v1/px4fmu_init.c +++ b/src/drivers/boards/px4fmu-v1/px4fmu_init.c @@ -99,7 +99,7 @@ * CONFIG_ARCH_LEDS configuration switch. */ __BEGIN_DECLS -extern void led_init(); +extern void led_init(void); extern void led_on(int led); extern void led_off(int led); __END_DECLS diff --git a/src/drivers/boards/px4fmu-v1/px4fmu_led.c b/src/drivers/boards/px4fmu-v1/px4fmu_led.c index ea91f34ad6..ee53fc43d7 100644 --- a/src/drivers/boards/px4fmu-v1/px4fmu_led.c +++ b/src/drivers/boards/px4fmu-v1/px4fmu_led.c @@ -54,13 +54,13 @@ * CONFIG_ARCH_LEDS configuration switch. */ __BEGIN_DECLS -extern void led_init(); +extern void led_init(void); extern void led_on(int led); extern void led_off(int led); extern void led_toggle(int led); __END_DECLS -__EXPORT void led_init() +__EXPORT void led_init(void) { /* Configure LED1-2 GPIOs for output */ From 20de2da032083187bd89914942ffc8574904c885 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 30 Jun 2014 12:20:23 +0200 Subject: [PATCH 40/67] Navigator: Warning fixes --- src/modules/navigator/mission_block.cpp | 4 +++- src/modules/navigator/rtl.cpp | 2 +- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 9b8d3d9c70..26a5735446 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -42,6 +42,8 @@ #include #include #include +#include +#include #include #include @@ -222,7 +224,7 @@ MissionBlock::set_loiter_item(struct position_setpoint_triplet_s *pos_sp_triplet } if (pos_sp_triplet->current.type != SETPOINT_TYPE_LOITER - || pos_sp_triplet->current.loiter_radius != _navigator->get_loiter_radius() + || (fabsf(pos_sp_triplet->current.loiter_radius - _navigator->get_loiter_radius()) > FLT_EPSILON) || pos_sp_triplet->current.loiter_direction != 1 || pos_sp_triplet->previous.valid || !pos_sp_triplet->current.valid diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp index 043f773a43..597a2c0ec2 100644 --- a/src/modules/navigator/rtl.cpp +++ b/src/modules/navigator/rtl.cpp @@ -227,7 +227,7 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet) _navigator->set_can_loiter_at_sp(true); if (autoland) { - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: loiter %.1fs", _mission_item.time_inside); + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: loiter %.1fs", (double)_mission_item.time_inside); } else { mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: completed, loiter"); From a66f88b29a93be4c3f66392994d55b4dc03d428e Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 30 Jun 2014 12:20:47 +0200 Subject: [PATCH 41/67] systemlib: Warning fixes --- src/modules/systemlib/rc_check.c | 1 + src/modules/systemlib/systemlib.c | 3 +++ 2 files changed, 4 insertions(+) diff --git a/src/modules/systemlib/rc_check.c b/src/modules/systemlib/rc_check.c index c0c1a5cb45..b2b2c12904 100644 --- a/src/modules/systemlib/rc_check.c +++ b/src/modules/systemlib/rc_check.c @@ -42,6 +42,7 @@ #include #include +#include #include #include #include diff --git a/src/modules/systemlib/systemlib.c b/src/modules/systemlib/systemlib.c index 57a751e1c3..9fff3eb88b 100644 --- a/src/modules/systemlib/systemlib.c +++ b/src/modules/systemlib/systemlib.c @@ -64,6 +64,9 @@ systemreset(bool to_bootloader) *(uint32_t *)0x40002850 = 0xb007b007; } up_systemreset(); + + /* lock up here */ + while(true); } static void kill_task(FAR struct tcb_s *tcb, FAR void *arg); From 751f8462f6aa298a59619484a13adedfdd521458 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 30 Jun 2014 12:21:23 +0200 Subject: [PATCH 42/67] IO firmware: Warning / bug fixes --- src/modules/px4iofirmware/i2c.c | 2 ++ src/modules/px4iofirmware/sbus.c | 6 ++++-- 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/src/modules/px4iofirmware/i2c.c b/src/modules/px4iofirmware/i2c.c index 79b6546b39..76762c0fce 100644 --- a/src/modules/px4iofirmware/i2c.c +++ b/src/modules/px4iofirmware/i2c.c @@ -331,6 +331,7 @@ i2c_tx_complete(void) i2c_tx_setup(); } +#ifdef DEBUG static void i2c_dump(void) { @@ -339,3 +340,4 @@ i2c_dump(void) debug("CCR 0x%08x TRISE 0x%08x", rCCR, rTRISE); debug("SR1 0x%08x SR2 0x%08x", rSR1, rSR2); } +#endif diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c index 0e7dc621cf..70ccab1808 100644 --- a/src/modules/px4iofirmware/sbus.c +++ b/src/modules/px4iofirmware/sbus.c @@ -119,13 +119,15 @@ sbus_init(const char *device) bool sbus1_output(uint16_t *values, uint16_t num_values) { - write(sbus_fd, 'A', 1); + char a = 'A'; + write(sbus_fd, &a, 1); } bool sbus2_output(uint16_t *values, uint16_t num_values) { - write(sbus_fd, 'B', 1); + char b = 'B'; + write(sbus_fd, &b, 1); } bool From 083d605f8a9b00a1551572008e487279c39f16aa Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 30 Jun 2014 12:22:06 +0200 Subject: [PATCH 43/67] sensors: Warning fixes --- src/modules/sensors/sensors.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 8908adf4c1..8cfe35c42e 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1315,7 +1315,7 @@ Sensors::adc_poll(struct sensor_combined_s &raw) * a valid voltage from a connected sensor. Also assume a non- * zero offset from the sensor if its connected. */ - if (voltage > 0.4f && _parameters.diff_pres_analog_enabled) { + if (voltage > 0.4f && (_parameters.diff_pres_analog_enabled > 0)) { float diff_pres_pa = voltage * 1000.0f - _parameters.diff_pres_offset_pa; //for MPXV7002DP sensor From b5f9e95af0be6208a1eb411ed56c830d762227f9 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 30 Jun 2014 12:22:26 +0200 Subject: [PATCH 44/67] INAV: Warning fixes --- .../position_estimator_inav_main.c | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index 9870ebd052..488b534539 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -49,6 +49,7 @@ #include #include #include +#include #include #include #include @@ -477,7 +478,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) float flow_dt = flow_prev > 0 ? (flow.flow_timestamp - flow_prev) * 1e-6f : 0.1f; flow_prev = flow.flow_timestamp; - if (flow.ground_distance_m > 0.31f && flow.ground_distance_m < 4.0f && att.R[2][2] > 0.7f && flow.ground_distance_m != sonar_prev) { + if (flow.ground_distance_m > 0.31f && flow.ground_distance_m < 4.0f && att.R[2][2] > 0.7f && (fabsf(flow.ground_distance_m - sonar_prev) > FLT_EPSILON)) { sonar_time = t; sonar_prev = flow.ground_distance_m; corr_sonar = flow.ground_distance_m + surface_offset + z_est[0]; @@ -952,11 +953,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) float updates_dt = (t - updates_counter_start) * 0.000001f; warnx( "updates rate: accelerometer = %.1f/s, baro = %.1f/s, gps = %.1f/s, attitude = %.1f/s, flow = %.1f/s", - accel_updates / updates_dt, - baro_updates / updates_dt, - gps_updates / updates_dt, - attitude_updates / updates_dt, - flow_updates / updates_dt); + (double)(accel_updates / updates_dt), + (double)(baro_updates / updates_dt), + (double)(gps_updates / updates_dt), + (double)(attitude_updates / updates_dt), + (double)(flow_updates / updates_dt)); updates_counter_start = t; accel_updates = 0; baro_updates = 0; From 04efee0bc8a2b0e8e9ffae4cf2c5b28bb1ba9ba9 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 30 Jun 2014 12:23:38 +0200 Subject: [PATCH 45/67] nshterm: Hotfix for retries counter --- src/systemcmds/nshterm/nshterm.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/systemcmds/nshterm/nshterm.c b/src/systemcmds/nshterm/nshterm.c index 7d9484d3eb..fca1798e68 100644 --- a/src/systemcmds/nshterm/nshterm.c +++ b/src/systemcmds/nshterm/nshterm.c @@ -60,7 +60,7 @@ nshterm_main(int argc, char *argv[]) printf("Usage: nshterm \n"); exit(1); } - uint8_t retries = 0; + unsigned retries = 0; int fd = -1; /* try the first 30 seconds */ From 799f568ab48ca3446b24f41290589f7f3c39ef0f Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 30 Jun 2014 14:33:56 +0200 Subject: [PATCH 46/67] commander: Minor checks / improvements to power enforce patch --- src/modules/commander/commander.cpp | 4 +++- src/modules/commander/state_machine_helper.cpp | 16 +++++----------- 2 files changed, 8 insertions(+), 12 deletions(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 507f18e247..a15712a91e 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -974,8 +974,10 @@ int commander_thread_main(int argc, char *argv[]) status.condition_power_input_valid = false; } else { status.condition_power_input_valid = true; - status.avionics_power_rail_voltage = system_power.voltage5V_v; } + + /* copy avionics voltage */ + status.avionics_power_rail_voltage = system_power.voltage5V_v; } } diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 1997729d48..7a61d481be 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -141,22 +141,16 @@ arming_state_transition(struct vehicle_status_s *status, /// current // Fail transition if power is not good if (!status->condition_power_input_valid) { - if (mavlink_fd) { - mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Connect power module."); - } - + mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Connect power module."); valid_transition = false; } // Fail transition if power levels on the avionics rail - // are insufficient - if ((status->avionics_power_rail_voltage > 0.0f) && - (status->avionics_power_rail_voltage < 4.5f)) { - - if (mavlink_fd) { - mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Avionics power low: %6.2f V.", status->avionics_power_rail_voltage); - } + // are measured but are insufficient + if (status->condition_power_input_valid && (status->avionics_power_rail_voltage > 0.0f) && + (status->avionics_power_rail_voltage < 4.9f)) { + mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Avionics power low: %6.2f V.", status->avionics_power_rail_voltage); valid_transition = false; } } From ad4411bfc1894c8a9ca42f563f7bf8207b39e7c1 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 30 Jun 2014 16:32:32 +0200 Subject: [PATCH 47/67] Fix line endings for patch --- .../position_estimator_inav/position_estimator_inav_main.c | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index 488b534539..5b312941ee 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -478,7 +478,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) float flow_dt = flow_prev > 0 ? (flow.flow_timestamp - flow_prev) * 1e-6f : 0.1f; flow_prev = flow.flow_timestamp; - if (flow.ground_distance_m > 0.31f && flow.ground_distance_m < 4.0f && att.R[2][2] > 0.7f && (fabsf(flow.ground_distance_m - sonar_prev) > FLT_EPSILON)) { + if ((flow.ground_distance_m > 0.31f) && + (flow.ground_distance_m < 4.0f) && + (att.R[2][2] > 0.7f) && + (fabsf(flow.ground_distance_m - sonar_prev) > FLT_EPSILON)) { + sonar_time = t; sonar_prev = flow.ground_distance_m; corr_sonar = flow.ground_distance_m + surface_offset + z_est[0]; From bbdf2bc07aaaa363ef58f15831511c64c2d856bf Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 30 Jun 2014 16:58:05 +0200 Subject: [PATCH 48/67] commander: Notify negative on manual arming fails --- src/modules/commander/commander.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index e4a709ef69..efa26eb97e 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1342,6 +1342,7 @@ int commander_thread_main(int argc, char *argv[]) } else if (arming_ret == TRANSITION_DENIED) { /* DENIED here indicates bug in the commander */ mavlink_log_critical(mavlink_fd, "ERROR: arming state transition denied"); + tune_negative(true); } /* evaluate the main state machine according to mode switches */ From 8408993a676acd0149e880ffeded74ce9c67b9c5 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 30 Jun 2014 17:45:50 +0200 Subject: [PATCH 49/67] Hotfix, non-code change: Raise RC config error warnings to audio --- src/modules/systemlib/rc_check.c | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/src/modules/systemlib/rc_check.c b/src/modules/systemlib/rc_check.c index b2b2c12904..b35b333af2 100644 --- a/src/modules/systemlib/rc_check.c +++ b/src/modules/systemlib/rc_check.c @@ -99,32 +99,32 @@ int rc_calibration_check(int mavlink_fd) { /* assert min..center..max ordering */ if (param_min < 500) { count++; - mavlink_log_critical(mavlink_fd, "ERR: RC_%d_MIN < 500", i+1); + mavlink_log_critical(mavlink_fd, "#audio ERR: RC_%d_MIN < 500", i+1); /* give system time to flush error message in case there are more */ usleep(100000); } if (param_max > 2500) { count++; - mavlink_log_critical(mavlink_fd, "ERR: RC_%d_MAX > 2500", i+1); + mavlink_log_critical(mavlink_fd, "#audio ERR: RC_%d_MAX > 2500", i+1); /* give system time to flush error message in case there are more */ usleep(100000); } if (param_trim < param_min) { count++; - mavlink_log_critical(mavlink_fd, "ERR: RC_%d_TRIM < MIN (%d/%d)", i+1, (int)param_trim, (int)param_min); + mavlink_log_critical(mavlink_fd, "#audio ERR: RC_%d_TRIM < MIN (%d/%d)", i+1, (int)param_trim, (int)param_min); /* give system time to flush error message in case there are more */ usleep(100000); } if (param_trim > param_max) { count++; - mavlink_log_critical(mavlink_fd, "ERR: RC_%d_TRIM > MAX (%d/%d)", i+1, (int)param_trim, (int)param_max); + mavlink_log_critical(mavlink_fd, "#audio ERR: RC_%d_TRIM > MAX (%d/%d)", i+1, (int)param_trim, (int)param_max); /* give system time to flush error message in case there are more */ usleep(100000); } /* assert deadzone is sane */ if (param_dz > 500) { - mavlink_log_critical(mavlink_fd, "ERR: RC_%d_DZ > 500", i+1); + mavlink_log_critical(mavlink_fd, "#audio ERR: RC_%d_DZ > 500", i+1); /* give system time to flush error message in case there are more */ usleep(100000); count++; @@ -140,7 +140,7 @@ int rc_calibration_check(int mavlink_fd) { /* sanity checks pass, enable channel */ if (count) { - mavlink_log_critical(mavlink_fd, "ERROR: %d config error(s) for RC channel %d.", count, (i + 1)); + mavlink_log_critical(mavlink_fd, "#audio ERROR: %d config error(s) for RC channel %d.", count, (i + 1)); warnx("ERROR: %d config error(s) for RC channel %d.", count, (i + 1)); usleep(100000); } From 45433c3711dba5c972e02e8c9263853164670a86 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 1 Jul 2014 09:52:18 +0200 Subject: [PATCH 50/67] Hotfix: Fix use of circuit breaker param --- src/modules/systemlib/circuit_breaker.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/systemlib/circuit_breaker.c b/src/modules/systemlib/circuit_breaker.c index b59531d69b..8f697749ed 100644 --- a/src/modules/systemlib/circuit_breaker.c +++ b/src/modules/systemlib/circuit_breaker.c @@ -86,7 +86,7 @@ PARAM_DEFINE_INT32(CBRK_IO_SAFETY, 0); bool circuit_breaker_enabled(const char* breaker, int32_t magic) { int32_t val; - (void)param_get(param_find(breaker), val); + (void)param_get(param_find(breaker), &val); return (val == magic); } From fb98251e4d08d351c7ba404e3816958435c57515 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 1 Jul 2014 09:52:36 +0200 Subject: [PATCH 51/67] Warning fixes in commander --- src/modules/commander/state_machine_helper.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 2445133758..423ce2f23c 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -182,7 +182,7 @@ arming_state_transition(struct vehicle_status_s *status, /// current if (status->condition_power_input_valid && (status->avionics_power_rail_voltage > 0.0f) && (status->avionics_power_rail_voltage < 4.9f)) { - mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Avionics power low: %6.2f V.", status->avionics_power_rail_voltage); + mavlink_log_critical(mavlink_fd, "#audio: NOT ARMING: Avionics power low: %6.2f V.", (double)status->avionics_power_rail_voltage); valid_transition = false; } } @@ -638,7 +638,7 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd) } if (!status->is_rotary_wing) { - int fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY); + fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY); if (fd < 0) { mavlink_log_critical(mavlink_fd, "#audio: FAIL: AIRSPEED SENSOR MISSING"); From 534c377ec6d09aff0feed9eb7e70c9188abcda8c Mon Sep 17 00:00:00 2001 From: philipoe Date: Tue, 1 Jul 2014 10:49:59 +0200 Subject: [PATCH 52/67] TECS: Small fix to throttle feed-forward --- src/lib/external_lgpl/tecs/tecs.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/lib/external_lgpl/tecs/tecs.cpp b/src/lib/external_lgpl/tecs/tecs.cpp index 3730b19204..6386e37a03 100644 --- a/src/lib/external_lgpl/tecs/tecs.cpp +++ b/src/lib/external_lgpl/tecs/tecs.cpp @@ -310,7 +310,7 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM STEdot_dem = STEdot_dem + _rollComp * (1.0f / constrain(cosPhi , 0.1f, 1.0f) - 1.0f); if (STEdot_dem >= 0) { - ff_throttle = nomThr + STEdot_dem / _STEdot_max * (1.0f - nomThr); + ff_throttle = nomThr + STEdot_dem / _STEdot_max * (_THRmaxf - nomThr); } else { ff_throttle = nomThr - STEdot_dem / _STEdot_min * nomThr; From 15a7a0ce7fd01717e597a470b732d623c5fda5f6 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 1 Jul 2014 11:31:24 +0200 Subject: [PATCH 53/67] autoconfig: Enforce clean defaults --- ROMFS/px4fmu_common/init.d/rcS | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index f70e0ed77f..9a77da9f94 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -173,6 +173,10 @@ then # if [ $DO_AUTOCONFIG == yes ] then + # We can't be sure the defaults haven't changed, so + # if someone requests a re-configuration, we do it + # cleanly from scratch + param reset param set SYS_AUTOCONFIG 0 param save fi From 6042999aab26276ff87e7274b97b69200919b86f Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 1 Jul 2014 11:59:25 +0200 Subject: [PATCH 54/67] Add vital comment to circuit breaker --- src/modules/systemlib/circuit_breaker.h | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/src/modules/systemlib/circuit_breaker.h b/src/modules/systemlib/circuit_breaker.h index 86439e2a58..1175dbce86 100644 --- a/src/modules/systemlib/circuit_breaker.h +++ b/src/modules/systemlib/circuit_breaker.h @@ -40,6 +40,15 @@ #ifndef CIRCUIT_BREAKER_H_ #define CIRCUIT_BREAKER_H_ +/* SAFETY WARNING -- SAFETY WARNING -- SAFETY WARNING + * + * OBEY THE DOCUMENTATION FOR ALL CIRCUIT BREAKERS HERE, + * ENSURE TO READ CAREFULLY ALL SAFETY WARNINGS. + * http://pixhawk.org/dev/circuit_breakers + * + * CIRCUIT BREAKERS ARE NOT PART OF THE STANDARD OPERATION PROCEDURE + * AND MAY DISABLE CHECKS THAT ARE VITAL FOR SAFE FLIGHT. + */ #define CBRK_SUPPLY_CHK_KEY 894281 #define CBRK_RATE_CTRL_KEY 140253 #define CBRK_IO_SAFETY_KEY 22027 From 29cd95ebad11380026c58343deeaf5bf334ad01c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 1 Jul 2014 12:05:10 +0200 Subject: [PATCH 55/67] Move param reset to right autoconfig check --- ROMFS/px4fmu_common/init.d/rcS | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 9a77da9f94..5856ba84fe 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -132,6 +132,10 @@ then # if param compare SYS_AUTOCONFIG 1 then + # We can't be sure the defaults haven't changed, so + # if someone requests a re-configuration, we do it + # cleanly from scratch + param reset set DO_AUTOCONFIG yes else set DO_AUTOCONFIG no @@ -173,10 +177,6 @@ then # if [ $DO_AUTOCONFIG == yes ] then - # We can't be sure the defaults haven't changed, so - # if someone requests a re-configuration, we do it - # cleanly from scratch - param reset param set SYS_AUTOCONFIG 0 param save fi From d0b78aa8a09cd4259258ab10b77c98e907c3b460 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 1 Jul 2014 13:42:32 +0200 Subject: [PATCH 56/67] Add param command which does not reset the autostart params to not hamper auto-config --- ROMFS/px4fmu_common/init.d/rcS | 4 ++-- src/systemcmds/param/param.c | 28 ++++++++++++++++++++++++++++ 2 files changed, 30 insertions(+), 2 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 5856ba84fe..1c9ded6a82 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -134,8 +134,8 @@ then then # We can't be sure the defaults haven't changed, so # if someone requests a re-configuration, we do it - # cleanly from scratch - param reset + # cleanly from scratch (except autostart / autoconfig) + param reset_nostart set DO_AUTOCONFIG yes else set DO_AUTOCONFIG no diff --git a/src/systemcmds/param/param.c b/src/systemcmds/param/param.c index 328205e29b..f8bff2f6fe 100644 --- a/src/systemcmds/param/param.c +++ b/src/systemcmds/param/param.c @@ -64,6 +64,7 @@ static void do_show_print(void *arg, param_t param); static void do_set(const char* name, const char* val, bool fail_on_not_found); static void do_compare(const char* name, const char* vals[], unsigned comparisons); static void do_reset(void); +static void do_reset_nostart(void); int param_main(int argc, char *argv[]) @@ -142,6 +143,10 @@ param_main(int argc, char *argv[]) if (!strcmp(argv[1], "reset")) { do_reset(); } + + if (!strcmp(argv[1], "reset_nostart")) { + do_reset_nostart(); + } } errx(1, "expected a command, try 'load', 'import', 'show', 'set', 'compare', 'select' or 'save'"); @@ -427,3 +432,26 @@ do_reset(void) exit(0); } } + +static void +do_reset_nostart(void) +{ + + int32_t autostart; + int32_t autoconfig; + + (void)param_get(param_find("SYS_AUTOSTART"), &autostart); + (void)param_get(param_find("SYS_AUTOCONFIG"), &autoconfig); + + param_reset_all(); + + (void)param_set(param_find("SYS_AUTOSTART"), &autostart); + (void)param_set(param_find("SYS_AUTOCONFIG"), &autoconfig); + + if (param_save_default()) { + warnx("Param export failed."); + exit(1); + } else { + exit(0); + } +} From 8c638d2addad0831b71428591cd76629c436ee05 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 1 Jul 2014 14:28:48 +0200 Subject: [PATCH 57/67] XML tool --- Tools/px_generate_xml.sh | 2 ++ 1 file changed, 2 insertions(+) create mode 100644 Tools/px_generate_xml.sh diff --git a/Tools/px_generate_xml.sh b/Tools/px_generate_xml.sh new file mode 100644 index 0000000000..65f0c95dab --- /dev/null +++ b/Tools/px_generate_xml.sh @@ -0,0 +1,2 @@ +#!/bin/sh +python px_process_params.py --xml From 4cd66a3242aa2dfb03a3e58ffcc8d27e1350b7ac Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 2 Jul 2014 00:25:19 +0200 Subject: [PATCH 58/67] Fix sdlog2 GPS time copy for log_on_start situation --- src/modules/sdlog2/sdlog2.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 9b071ff991..f99aec34ea 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -1070,7 +1070,7 @@ int sdlog2_thread_main(int argc, char *argv[]) if (log_on_start) { /* check GPS topic to get GPS time */ if (log_name_timestamp) { - if (copy_if_updated(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf_gps_pos)) { + if (!orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf_gps_pos)) { gps_time = buf_gps_pos.time_gps_usec; } } From f428ebb04f0610c31639d8fe6d121f632c1cad1b Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 2 Jul 2014 11:39:56 +0200 Subject: [PATCH 59/67] gps: Comment-only fix --- src/drivers/gps/gps.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index 1d8ef1b997..241e3bdf3b 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -109,7 +109,7 @@ private: int _serial_fd; ///< serial interface to GPS unsigned _baudrate; ///< current baudrate char _port[20]; ///< device / serial port path - volatile int _task; //< worker task + volatile int _task; ///< worker task bool _healthy; ///< flag to signal if the GPS is ok bool _baudrate_changed; ///< flag to signal that the baudrate with the GPS has changed bool _mode_changed; ///< flag that the GPS mode has changed From 76aa871a7125c98e79db4dde42de7863a24a762c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 3 Jul 2014 00:26:33 +0200 Subject: [PATCH 60/67] estimator: Fixed body / world matrix initialization and reset --- .../ekf_att_pos_estimator/estimator_23states.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp index 9622f7e404..deaaf55fe2 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp @@ -2503,12 +2503,12 @@ void AttPosEKF::InitializeDynamic(float (&initvelNED)[3], float declination) // Calculate initial Tbn matrix and rotate Mag measurements into NED // to set initial NED magnetic field states - Mat3f DCM; - quat2Tbn(DCM, initQuat); + quat2Tbn(Tbn, initQuat); + Tnb = Tbn.transpose(); Vector3f initMagNED; - initMagNED.x = DCM.x.x*initMagXYZ.x + DCM.x.y*initMagXYZ.y + DCM.x.z*initMagXYZ.z; - initMagNED.y = DCM.y.x*initMagXYZ.x + DCM.y.y*initMagXYZ.y + DCM.y.z*initMagXYZ.z; - initMagNED.z = DCM.z.x*initMagXYZ.x + DCM.z.y*initMagXYZ.y + DCM.z.z*initMagXYZ.z; + initMagNED.x = Tbn.x.x*initMagXYZ.x + Tbn.x.y*initMagXYZ.y + Tbn.x.z*initMagXYZ.z; + initMagNED.y = Tbn.y.x*initMagXYZ.x + Tbn.y.y*initMagXYZ.y + Tbn.y.z*initMagXYZ.z; + initMagNED.z = Tbn.z.x*initMagXYZ.x + Tbn.z.y*initMagXYZ.y + Tbn.z.z*initMagXYZ.z; magstate.q0 = initQuat[0]; magstate.q1 = initQuat[1]; @@ -2521,7 +2521,7 @@ void AttPosEKF::InitializeDynamic(float (&initvelNED)[3], float declination) magstate.magYbias = magBias.y; magstate.magZbias = magBias.z; magstate.R_MAG = sq(magMeasurementSigma); - magstate.DCM = DCM; + magstate.DCM = Tbn; // write to state vector for (uint8_t j=0; j<=3; j++) states[j] = initQuat[j]; // quaternions From 23164228c84f304326026c9fbda6822f2e99e9b3 Mon Sep 17 00:00:00 2001 From: Kynos Date: Thu, 3 Jul 2014 11:11:40 +0200 Subject: [PATCH 61/67] Added NAV-TIMEUTC valid flag defines --- src/drivers/gps/ubx.h | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/src/drivers/gps/ubx.h b/src/drivers/gps/ubx.h index 1a9e7cb0c9..65f2dd2ba9 100644 --- a/src/drivers/gps/ubx.h +++ b/src/drivers/gps/ubx.h @@ -104,6 +104,13 @@ #define UBX_RX_NAV_PVT_FLAGS_PSMSTATE 0x1C /**< psmState (Power Save Mode state (see Power Management)) */ #define UBX_RX_NAV_PVT_FLAGS_HEADVEHVALID 0x20 /**< headVehValid (Heading of vehicle is valid) */ +/* RX NAV-TIMEUTC message content details */ +/* Bitfield "valid" masks */ +#define UBX_RX_NAV_TIMEUTC_VALID_VALIDTOW 0x01 /**< validTOW (1 = Valid Time of Week) */ +#define UBX_RX_NAV_TIMEUTC_VALID_VALIDKWN 0x02 /**< validWKN (1 = Valid Week Number) */ +#define UBX_RX_NAV_TIMEUTC_VALID_VALIDUTC 0x04 /**< validUTC (1 = Valid UTC Time) */ +#define UBX_RX_NAV_TIMEUTC_VALID_UTCSTANDARD 0xF0 /**< utcStandard (0..15 = UTC standard identifier) */ + /* TX CFG-PRT message contents */ #define UBX_TX_CFG_PRT_PORTID 0x01 /**< UART1 */ #define UBX_TX_CFG_PRT_MODE 0x000008D0 /**< 0b0000100011010000: 8N1 */ @@ -185,7 +192,7 @@ typedef struct { uint8_t hour; /**< Hour of day, range 0..23 (UTC) */ uint8_t min; /**< Minute of hour, range 0..59 (UTC) */ uint8_t sec; /**< Seconds of minute, range 0..60 (UTC) */ - uint8_t valid; /**< Validity flags (see UBX_RX_NAV_PVT_VALID_...) */ + uint8_t valid; /**< Validity flags (see UBX_RX_NAV_PVT_VALID_...) */ uint32_t tAcc; /**< Time accuracy estimate (UTC) [ns] */ int32_t nano; /**< Fraction of second (UTC) [-1e9...1e9 ns] */ uint8_t fixType; /**< GNSSfix type: 0 = No fix, 1 = Dead Reckoning only, 2 = 2D fix, 3 = 3d-fix, 4 = GNSS + dead reckoning, 5 = time only fix */ @@ -223,7 +230,7 @@ typedef struct { uint8_t hour; /**< Hour of day, range 0..23 (UTC) */ uint8_t min; /**< Minute of hour, range 0..59 (UTC) */ uint8_t sec; /**< Seconds of minute, range 0..60 (UTC) */ - uint8_t valid; /**< Validity Flags (see ubx documentation) */ + uint8_t valid; /**< Validity Flags (see UBX_RX_NAV_TIMEUTC_VALID_...) */ } ubx_payload_rx_nav_timeutc_t; /* Rx NAV-SVINFO Part 1 */ From 05be2400cb8d38645b86900edde38cbced0d22b4 Mon Sep 17 00:00:00 2001 From: Alexey Luchko Date: Thu, 3 Jul 2014 12:13:56 +0300 Subject: [PATCH 62/67] fix misprint `lowvsyslog` --- src/modules/systemlib/err.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/systemlib/err.c b/src/modules/systemlib/err.c index 6c0e876d12..998b5ac7d0 100644 --- a/src/modules/systemlib/err.c +++ b/src/modules/systemlib/err.c @@ -86,7 +86,7 @@ warnerr_core(int errcode, const char *fmt, va_list args) fprintf(stderr, "\n"); #elif CONFIG_ARCH_LOWPUTC lowsyslog("%s: ", getprogname()); - lowvyslog(fmt, args); + lowvsyslog(fmt, args); /* convenience as many parts of NuttX use negative errno */ if (errcode < 0) From 7be2e0f13605eb9bb34eb04745a0e7a3936d94e9 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 3 Jul 2014 11:18:00 +0200 Subject: [PATCH 63/67] Hotfix: Typo in disabled code path --- src/modules/systemlib/err.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/systemlib/err.c b/src/modules/systemlib/err.c index 6c0e876d12..60dcc62e0f 100644 --- a/src/modules/systemlib/err.c +++ b/src/modules/systemlib/err.c @@ -86,7 +86,7 @@ warnerr_core(int errcode, const char *fmt, va_list args) fprintf(stderr, "\n"); #elif CONFIG_ARCH_LOWPUTC lowsyslog("%s: ", getprogname()); - lowvyslog(fmt, args); + lowsyslog(fmt, args); /* convenience as many parts of NuttX use negative errno */ if (errcode < 0) From 04cca73baac0b027451a76d50b1f3b365b1feeef Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 3 Jul 2014 11:26:26 +0200 Subject: [PATCH 64/67] Hotfix of the Hotfix 8) --- src/modules/systemlib/err.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/systemlib/err.c b/src/modules/systemlib/err.c index 60dcc62e0f..998b5ac7d0 100644 --- a/src/modules/systemlib/err.c +++ b/src/modules/systemlib/err.c @@ -86,7 +86,7 @@ warnerr_core(int errcode, const char *fmt, va_list args) fprintf(stderr, "\n"); #elif CONFIG_ARCH_LOWPUTC lowsyslog("%s: ", getprogname()); - lowsyslog(fmt, args); + lowvsyslog(fmt, args); /* convenience as many parts of NuttX use negative errno */ if (errcode < 0) From 1cca3ca8a5469e66dbb5bebbe518b55e4af426d8 Mon Sep 17 00:00:00 2001 From: Kynos Date: Thu, 3 Jul 2014 13:33:29 +0200 Subject: [PATCH 65/67] Use NAV-PVT with ubx7 and ubx8 modules This replaces NAV-SOL, NAV-POSLLH, NAV-VELNED and NAV-TIMEUTC. --- src/drivers/gps/gps.cpp | 1 - src/drivers/gps/ubx.cpp | 125 +++++++++++++++--- src/drivers/gps/ubx.h | 10 +- src/modules/mavlink/mavlink_receiver.cpp | 1 - .../uORB/topics/vehicle_gps_position.h | 1 - 5 files changed, 113 insertions(+), 25 deletions(-) diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index 241e3bdf3b..401b65dd4f 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -299,7 +299,6 @@ GPS::task_main() _report_gps_pos.alt = (int32_t)1200e3f; _report_gps_pos.timestamp_variance = hrt_absolute_time(); _report_gps_pos.s_variance_m_s = 10.0f; - _report_gps_pos.p_variance_m = 10.0f; _report_gps_pos.c_variance_rad = 0.1f; _report_gps_pos.fix_type = 3; _report_gps_pos.eph = 0.9f; diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp index 44434a1df9..d0854f5e9a 100644 --- a/src/drivers/gps/ubx.cpp +++ b/src/drivers/gps/ubx.cpp @@ -95,7 +95,8 @@ UBX::UBX(const int &fd, struct vehicle_gps_position_s *gps_position, struct sate _got_velned(false), _disable_cmd_last(0), _ack_waiting_msg(0), - _ubx_version(0) + _ubx_version(0), + _use_nav_pvt(false) { decode_init(); } @@ -190,38 +191,45 @@ UBX::configure(unsigned &baudrate) /* configure message rates */ /* the last argument is divisor for measurement rate (set by CFG RATE), i.e. 1 means 5Hz */ - configure_message_rate(UBX_MSG_NAV_POSLLH, 1); + /* try to set rate for NAV-PVT */ + /* (implemented for ubx7+ modules only, use NAV-SOL, NAV-POSLLH, NAV-VELNED and NAV-TIMEUTC for ubx6) */ + configure_message_rate(UBX_MSG_NAV_PVT, 1); if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) { - return 1; + _use_nav_pvt = false; + } else { + _use_nav_pvt = true; } + UBX_WARN("%susing NAV-PVT", _use_nav_pvt ? "" : "not "); - configure_message_rate(UBX_MSG_NAV_TIMEUTC, 5); + if (!_use_nav_pvt) { + configure_message_rate(UBX_MSG_NAV_TIMEUTC, 5); + if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) { + return 1; + } - if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) { - return 1; - } + configure_message_rate(UBX_MSG_NAV_POSLLH, 1); + if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) { + return 1; + } - configure_message_rate(UBX_MSG_NAV_SOL, 1); + configure_message_rate(UBX_MSG_NAV_SOL, 1); + if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) { + return 1; + } - if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) { - return 1; - } - - configure_message_rate(UBX_MSG_NAV_VELNED, 1); - - if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) { - return 1; + configure_message_rate(UBX_MSG_NAV_VELNED, 1); + if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) { + return 1; + } } configure_message_rate(UBX_MSG_NAV_SVINFO, (_satellite_info != nullptr) ? 5 : 0); - if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) { return 1; } configure_message_rate(UBX_MSG_MON_HW, 1); - if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) { return 1; } @@ -454,11 +462,23 @@ UBX::payload_rx_init() _rx_state = UBX_RXMSG_HANDLE; // handle by default switch (_rx_msg) { + case UBX_MSG_NAV_PVT: + if ( (_rx_payload_length != UBX_PAYLOAD_RX_NAV_PVT_SIZE_UBX7) /* u-blox 7 msg format */ + && (_rx_payload_length != UBX_PAYLOAD_RX_NAV_PVT_SIZE_UBX8)) /* u-blox 8+ msg format */ + _rx_state = UBX_RXMSG_ERROR_LENGTH; + else if (!_configured) + _rx_state = UBX_RXMSG_IGNORE; // ignore if not _configured + else if (!_use_nav_pvt) + _rx_state = UBX_RXMSG_DISABLE; // disable if not using NAV-PVT + break; + case UBX_MSG_NAV_POSLLH: if (_rx_payload_length != sizeof(ubx_payload_rx_nav_posllh_t)) _rx_state = UBX_RXMSG_ERROR_LENGTH; else if (!_configured) _rx_state = UBX_RXMSG_IGNORE; // ignore if not _configured + else if (_use_nav_pvt) + _rx_state = UBX_RXMSG_DISABLE; // disable if using NAV-PVT instead break; case UBX_MSG_NAV_SOL: @@ -466,6 +486,8 @@ UBX::payload_rx_init() _rx_state = UBX_RXMSG_ERROR_LENGTH; else if (!_configured) _rx_state = UBX_RXMSG_IGNORE; // ignore if not _configured + else if (_use_nav_pvt) + _rx_state = UBX_RXMSG_DISABLE; // disable if using NAV-PVT instead break; case UBX_MSG_NAV_TIMEUTC: @@ -473,6 +495,8 @@ UBX::payload_rx_init() _rx_state = UBX_RXMSG_ERROR_LENGTH; else if (!_configured) _rx_state = UBX_RXMSG_IGNORE; // ignore if not _configured + else if (_use_nav_pvt) + _rx_state = UBX_RXMSG_DISABLE; // disable if using NAV-PVT instead break; case UBX_MSG_NAV_SVINFO: @@ -489,6 +513,8 @@ UBX::payload_rx_init() _rx_state = UBX_RXMSG_ERROR_LENGTH; else if (!_configured) _rx_state = UBX_RXMSG_IGNORE; // ignore if not _configured + else if (_use_nav_pvt) + _rx_state = UBX_RXMSG_DISABLE; // disable if using NAV-PVT instead break; case UBX_MSG_MON_VER: @@ -675,6 +701,68 @@ UBX::payload_rx_done(void) // handle message switch (_rx_msg) { + case UBX_MSG_NAV_PVT: + UBX_TRACE_RXMSG("Rx NAV-PVT\n"); + + _gps_position->fix_type = _buf.payload_rx_nav_pvt.fixType; + _gps_position->satellites_used = _buf.payload_rx_nav_pvt.numSV; + + _gps_position->lat = _buf.payload_rx_nav_pvt.lat; + _gps_position->lon = _buf.payload_rx_nav_pvt.lon; + _gps_position->alt = _buf.payload_rx_nav_pvt.hMSL; + + _gps_position->eph = (float)_buf.payload_rx_nav_pvt.hAcc * 1e-3f; + _gps_position->epv = (float)_buf.payload_rx_nav_pvt.vAcc * 1e-3f; + _gps_position->s_variance_m_s = (float)_buf.payload_rx_nav_pvt.sAcc * 1e-3f; + + _gps_position->vel_m_s = (float)_buf.payload_rx_nav_pvt.gSpeed * 1e-3f; + + _gps_position->vel_n_m_s = (float)_buf.payload_rx_nav_pvt.velN * 1e-3f; + _gps_position->vel_e_m_s = (float)_buf.payload_rx_nav_pvt.velE * 1e-3f; + _gps_position->vel_d_m_s = (float)_buf.payload_rx_nav_pvt.velD * 1e-3f; + _gps_position->vel_ned_valid = true; + + _gps_position->cog_rad = (float)_buf.payload_rx_nav_pvt.headMot * M_DEG_TO_RAD_F * 1e-5f; + _gps_position->c_variance_rad = (float)_buf.payload_rx_nav_pvt.headAcc * M_DEG_TO_RAD_F * 1e-5f; + + { + /* convert to unix timestamp */ + struct tm timeinfo; + timeinfo.tm_year = _buf.payload_rx_nav_pvt.year - 1900; + timeinfo.tm_mon = _buf.payload_rx_nav_pvt.month - 1; + timeinfo.tm_mday = _buf.payload_rx_nav_pvt.day; + timeinfo.tm_hour = _buf.payload_rx_nav_pvt.hour; + timeinfo.tm_min = _buf.payload_rx_nav_pvt.min; + timeinfo.tm_sec = _buf.payload_rx_nav_pvt.sec; + time_t epoch = mktime(&timeinfo); + +#ifndef CONFIG_RTC + //Since we lack a hardware RTC, set the system time clock based on GPS UTC + //TODO generalize this by moving into gps.cpp? + timespec ts; + ts.tv_sec = epoch; + ts.tv_nsec = _buf.payload_rx_nav_pvt.nano; + clock_settime(CLOCK_REALTIME, &ts); +#endif + + _gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this + _gps_position->time_gps_usec += (uint64_t)(_buf.payload_rx_nav_pvt.nano * 1e-3f); + } + + _gps_position->timestamp_time = hrt_absolute_time(); + _gps_position->timestamp_velocity = hrt_absolute_time(); + _gps_position->timestamp_variance = hrt_absolute_time(); + _gps_position->timestamp_position = hrt_absolute_time(); + + _rate_count_vel++; + _rate_count_lat_lon++; + + _got_posllh = true; + _got_velned = true; + + ret = 1; + break; + case UBX_MSG_NAV_POSLLH: UBX_TRACE_RXMSG("Rx NAV-POSLLH\n"); @@ -697,7 +785,6 @@ UBX::payload_rx_done(void) _gps_position->fix_type = _buf.payload_rx_nav_sol.gpsFix; _gps_position->s_variance_m_s = (float)_buf.payload_rx_nav_sol.sAcc * 1e-2f; // from cm to m - _gps_position->p_variance_m = (float)_buf.payload_rx_nav_sol.pAcc * 1e-2f; // from cm to m _gps_position->satellites_used = _buf.payload_rx_nav_sol.numSV; _gps_position->timestamp_variance = hrt_absolute_time(); diff --git a/src/drivers/gps/ubx.h b/src/drivers/gps/ubx.h index 65f2dd2ba9..219a5762aa 100644 --- a/src/drivers/gps/ubx.h +++ b/src/drivers/gps/ubx.h @@ -183,7 +183,7 @@ typedef struct { uint32_t reserved2; } ubx_payload_rx_nav_sol_t; -/* Rx NAV-PVT */ +/* Rx NAV-PVT (ubx8) */ typedef struct { uint32_t iTOW; /**< GPS Time of Week [ms] */ uint16_t year; /**< Year (UTC)*/ @@ -215,9 +215,11 @@ typedef struct { uint16_t pDOP; /**< Position DOP [0.01] */ uint16_t reserved2; uint32_t reserved3; - int32_t headVeh; /**< Heading of vehicle (2-D) [1e-5 deg] */ - uint32_t reserved4; + int32_t headVeh; /**< (ubx8+ only) Heading of vehicle (2-D) [1e-5 deg] */ + uint32_t reserved4; /**< (ubx8+ only) */ } ubx_payload_rx_nav_pvt_t; +#define UBX_PAYLOAD_RX_NAV_PVT_SIZE_UBX7 (sizeof(ubx_payload_rx_nav_pvt_t) - 8) +#define UBX_PAYLOAD_RX_NAV_PVT_SIZE_UBX8 (sizeof(ubx_payload_rx_nav_pvt_t)) /* Rx NAV-TIMEUTC */ typedef struct { @@ -395,6 +397,7 @@ typedef struct { /* General message and payload buffer union */ typedef union { + ubx_payload_rx_nav_pvt_t payload_rx_nav_pvt; ubx_payload_rx_nav_posllh_t payload_rx_nav_posllh; ubx_payload_rx_nav_sol_t payload_rx_nav_sol; ubx_payload_rx_nav_timeutc_t payload_rx_nav_timeutc; @@ -533,6 +536,7 @@ private: uint16_t _ack_waiting_msg; ubx_buf_t _buf; uint32_t _ubx_version; + bool _use_nav_pvt; }; #endif /* UBX_H_ */ diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 53a1638a31..6d361052c6 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -741,7 +741,6 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg) hil_gps.timestamp_variance = timestamp; hil_gps.s_variance_m_s = 5.0f; - hil_gps.p_variance_m = hil_gps.eph * hil_gps.eph; hil_gps.timestamp_velocity = timestamp; hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s diff --git a/src/modules/uORB/topics/vehicle_gps_position.h b/src/modules/uORB/topics/vehicle_gps_position.h index dbd59f4f37..80d65cd697 100644 --- a/src/modules/uORB/topics/vehicle_gps_position.h +++ b/src/modules/uORB/topics/vehicle_gps_position.h @@ -61,7 +61,6 @@ struct vehicle_gps_position_s { uint64_t timestamp_variance; float s_variance_m_s; /**< speed accuracy estimate m/s */ - float p_variance_m; /**< position accuracy estimate m */ float c_variance_rad; /**< course accuracy estimate rad */ uint8_t fix_type; /**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. */ From 7608628e9d3979814557438df0bd4f676ebe49a4 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 3 Jul 2014 14:25:46 +0200 Subject: [PATCH 66/67] Contributing notes --- CONTRIBUTING.md | 44 ++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 44 insertions(+) create mode 100644 CONTRIBUTING.md diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md new file mode 100644 index 0000000000..a6f5fa7a33 --- /dev/null +++ b/CONTRIBUTING.md @@ -0,0 +1,44 @@ +# Contributing to PX4 Firmware + +We follow the [Github flow](https://guides.github.com/introduction/flow/) development model. + +### Fork the project, then clone your repo + +First [fork and clone](https://help.github.com/articles/fork-a-repo) the project project. + +### Create a feature branch + +*Always* branch off master for new features. + +``` +git checkout -b my_descriptive_branch_name +``` + +### Edit and build the code + +The [developer guide](http://pixhawk.org/dev/start) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](http://pixhawk.org/dev/code_style) when editing files. + +### Commit your changes + +Always write descriptive commit messages and add a fixes or relates note to them with an [issue number](https://github.com/px4/Firmware/issues) (Github will link these then conveniently) + +**Example:** + +``` +Change how the attitude controller works + +- Fixes rate feed forward +- Allows a local body rate override + +Fixes issue #123 +``` + +### Test your changes + +Since we care about safety, we will regularly ask you for test results. Best is to do a test flight (or bench test where it applies) and upload the logfile from it (on the microSD card in the logs directory) to Google Drive or Dropbox and share the link. + +### Push your changes + +Push changes to your repo and send a [pull request](https://github.com/PX4/Firmware/compare/). + +Make sure to provide some testing feedback and if possible the link to a flight log file. From 74f0301fa1553be85d86f7869d70fdda75b4c7b9 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 3 Jul 2014 14:46:06 +0200 Subject: [PATCH 67/67] Changed branch name suggestion --- CONTRIBUTING.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md index a6f5fa7a33..3bf02fbff3 100644 --- a/CONTRIBUTING.md +++ b/CONTRIBUTING.md @@ -11,7 +11,7 @@ First [fork and clone](https://help.github.com/articles/fork-a-repo) the project *Always* branch off master for new features. ``` -git checkout -b my_descriptive_branch_name +git checkout -b mydescriptivebranchname ``` ### Edit and build the code