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Changed gps position topic mostly to SI units and float, removed counters and added specifig timestamps

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This commit is contained in:
Julian Oes
2013-02-06 12:41:05 -08:00
parent a79ad17f09
commit fc4be3e728
9 changed files with 139 additions and 139 deletions
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apps/drivers/gps/gps.cpp
+2 -2
View File
@@ -543,9 +543,9 @@ GPS::print_info()
break;
}
warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_config_needed) ? "NOT OK" : "OK");
if (_report.timestamp != 0) {
if (_report.timestamp_position != 0) {
warnx("position lock: %dD, last update %4.2f seconds ago", (int)_report.fix_type,
(double)((float)(hrt_absolute_time() - _report.timestamp) / 1000000.0f));
(double)((float)(hrt_absolute_time() - _report.timestamp_position) / 1000000.0f));
warnx("lat: %d, lon: %d, alt: %d", _report.lat, _report.lon, _report.alt);
warnx("update rate: %6.2f Hz", (double)_rate);
}
apps/drivers/gps/ubx.cpp
+53 -57
View File
@@ -37,6 +37,7 @@
#include <unistd.h>
#include <stdio.h>
#include <math.h>
#include <string.h>
#include <assert.h>
#include <systemlib/err.h>
@@ -52,7 +53,7 @@ _config_state(UBX_CONFIG_STATE_PRT),
_waiting_for_ack(false),
_new_nav_posllh(false),
_new_nav_timeutc(false),
_new_nav_dop(false),
//_new_nav_dop(false),
_new_nav_sol(false),
_new_nav_velned(false)
{
@@ -211,10 +212,10 @@ UBX::configure(uint8_t *buffer, int &length, const unsigned max_length, bool &ba
cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_TIMEUTC;
break;
case UBX_CONFIG_STATE_MSG_NAV_DOP:
cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_DOP;
break;
// case UBX_CONFIG_STATE_MSG_NAV_DOP:
// cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
// cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_DOP;
// break;
case UBX_CONFIG_STATE_MSG_NAV_SVINFO:
cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SVINFO;
@@ -316,10 +317,10 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
_message_id = NAV_TIMEUTC;
break;
case UBX_MESSAGE_NAV_DOP:
_decode_state = UBX_DECODE_GOT_MESSAGEID;
_message_id = NAV_DOP;
break;
// case UBX_MESSAGE_NAV_DOP:
// _decode_state = UBX_DECODE_GOT_MESSAGEID;
// _message_id = NAV_DOP;
// break;
case UBX_MESSAGE_NAV_SVINFO:
_decode_state = UBX_DECODE_GOT_MESSAGEID;
@@ -412,11 +413,11 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
gps_position->lon = packet->lon;
gps_position->alt = packet->height_msl;
gps_position->counter_pos_valid++;
gps_position->counter++;
gps_position->eph_m = (float)packet->hAcc * 1e-2f; // from mm to m
gps_position->epv_m = (float)packet->vAcc * 1e-2f; // from mm to m
/* Add timestamp to finish the report */
gps_position->timestamp = hrt_absolute_time();
gps_position->timestamp_position = hrt_absolute_time();
_new_nav_posllh = true;
/* set flag to trigger publishing of new position */
@@ -439,11 +440,10 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
gps_position->fix_type = packet->gpsFix;
gps_position->s_variance = packet->sAcc;
gps_position->p_variance = packet->pAcc;
gps_position->s_variance_m_s = packet->sAcc;
gps_position->p_variance_m = packet->pAcc;
gps_position->counter++;
gps_position->timestamp = hrt_absolute_time();
gps_position->timestamp_variance = hrt_absolute_time();
_new_nav_sol = true;
@@ -457,29 +457,28 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
break;
}
case NAV_DOP: {
// printf("GOT NAV_DOP MESSAGE\n");
gps_bin_nav_dop_packet_t *packet = (gps_bin_nav_dop_packet_t *) _rx_buffer;
//Check if checksum is valid and the store the gps information
if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
gps_position->eph = packet->hDOP;
gps_position->epv = packet->vDOP;
gps_position->counter++;
gps_position->timestamp = hrt_absolute_time();
_new_nav_dop = true;
} else {
warnx("NAV_DOP: checksum invalid");
}
// Reset state machine to decode next packet
decodeInit();
break;
}
// case NAV_DOP: {
//// printf("GOT NAV_DOP MESSAGE\n");
// gps_bin_nav_dop_packet_t *packet = (gps_bin_nav_dop_packet_t *) _rx_buffer;
//
// //Check if checksum is valid and the store the gps information
// if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
//
// gps_position->eph_m = packet->hDOP;
// gps_position->epv = packet->vDOP;
//
// gps_position->timestamp_posdilution = hrt_absolute_time();
//
// _new_nav_dop = true;
//
// } else {
// warnx("NAV_DOP: checksum invalid");
// }
//
// // Reset state machine to decode next packet
// decodeInit();
// break;
// }
case NAV_TIMEUTC: {
// printf("GOT NAV_TIMEUTC MESSAGE\n");
@@ -501,8 +500,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
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->counter++;
gps_position->timestamp = hrt_absolute_time();
gps_position->timestamp_time = hrt_absolute_time();
_new_nav_timeutc = true;
@@ -593,8 +591,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
}
gps_position->satellites_visible = satellites_used++; // visible ~= used but we are interested in the used ones
gps_position->counter++;
gps_position->timestamp = hrt_absolute_time();
gps_position->timestamp_satellites = hrt_absolute_time();
// as this message arrives only with 1Hz and is not essential, we don't take it into account for the report
@@ -614,18 +611,17 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
//Check if checksum is valid and the store the gps information
if (_rx_ck_a == packet->ck_a && _rx_ck_b == packet->ck_b) {
gps_position->vel = (uint16_t)packet->speed;
gps_position->vel_n = packet->velN / 100.0f;
gps_position->vel_e = packet->velE / 100.0f;
gps_position->vel_d = packet->velD / 100.0f;
gps_position->vel_m_s = (float)packet->speed * 1e-2f;
gps_position->vel_n_m_s = (float)packet->velN * 1e-2f;
gps_position->vel_e_m_s = (float)packet->velE * 1e-2f;
gps_position->vel_d_m_s = (float)packet->velD * 1e-2f;
gps_position->cog_rad = (float)packet->heading * M_DEG_TO_RAD_F * 1e-5f;
gps_position->vel_ned_valid = true;
gps_position->cog = (uint16_t)((float)(packet->heading) * 1e-3f);
gps_position->counter++;
gps_position->timestamp = hrt_absolute_time();
gps_position->timestamp_velocity = hrt_absolute_time();
_new_nav_velned = true;
} else {
warnx("NAV_VELNED: checksum invalid");
}
@@ -690,13 +686,13 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
_config_state = UBX_CONFIG_STATE_MSG_NAV_TIMEUTC;
break;
case UBX_CONFIG_STATE_MSG_NAV_TIMEUTC:
if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG)
_config_state = UBX_CONFIG_STATE_MSG_NAV_DOP;
break;
case UBX_CONFIG_STATE_MSG_NAV_DOP:
if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG)
_config_state = UBX_CONFIG_STATE_MSG_NAV_SVINFO;
break;
// case UBX_CONFIG_STATE_MSG_NAV_DOP:
// if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG)
// _config_state = UBX_CONFIG_STATE_MSG_NAV_SVINFO;
// break;
case UBX_CONFIG_STATE_MSG_NAV_SVINFO:
if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG)
_config_state = UBX_CONFIG_STATE_MSG_NAV_SOL;
@@ -766,7 +762,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
}
/* return 1 when position updates and the remaining packets updated at least once */
if(_new_nav_posllh &&_new_nav_timeutc && _new_nav_dop && _new_nav_sol && _new_nav_velned) {
if(_new_nav_posllh &&_new_nav_timeutc /*&& _new_nav_dop*/ && _new_nav_sol && _new_nav_velned) {
/* we have received everything, this most probably means that the configuration is fine */
config_needed = false;
@@ -774,7 +770,7 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
/* Reset the flags */
_new_nav_posllh = false;
_new_nav_timeutc = false;
_new_nav_dop = false;
// _new_nav_dop = false;
_new_nav_sol = false;
_new_nav_velned = false;
apps/drivers/gps/ubx.h
+15 -15
View File
@@ -54,7 +54,7 @@
#define UBX_MESSAGE_NAV_POSLLH 0x02
#define UBX_MESSAGE_NAV_SOL 0x06
#define UBX_MESSAGE_NAV_TIMEUTC 0x21
#define UBX_MESSAGE_NAV_DOP 0x04
//#define UBX_MESSAGE_NAV_DOP 0x04
#define UBX_MESSAGE_NAV_SVINFO 0x30
#define UBX_MESSAGE_NAV_VELNED 0x12
//#define UBX_MESSAGE_RXM_SVSI 0x20
@@ -140,18 +140,18 @@ typedef struct {
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;
//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;
typedef struct {
uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */
@@ -311,7 +311,7 @@ typedef enum {
NAV_POSLLH,
NAV_SOL,
NAV_TIMEUTC,
NAV_DOP,
// NAV_DOP,
NAV_SVINFO,
NAV_VELNED,
// RXM_SVSI,
@@ -371,7 +371,7 @@ private:
unsigned _payload_size;
bool _new_nav_posllh;
bool _new_nav_timeutc;
bool _new_nav_dop;
// bool _new_nav_dop;
bool _new_nav_sol;
bool _new_nav_velned;
};