fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-02 13:30:34 +08:00
Code Issues Packages Projects Releases Wiki Activity
47,605 Commits 852 Branches 161 Tags
752ecd3d1baddf7fa01da6bd424fc71e2bcc2f6f
Commit Graph

420 Commits

Author SHA1 Message Date
Alexander Lerach 752ecd3d1b ubx: add option to wipe flash 2025-07-24 11:06:54 +02:00
Marco Hauswirth 6ee6a3a578 GNSS: Don't send 'spoofing' warnings form driver (#25160) 
* removing logic from driver to send warnings when state-change to spoofing is detected, handled in estimatorChecks

* also remove jamming warnings from drivers, those are handled in the estimator checks as well
 2025-07-07 09:44:26 +02:00
Alexander Lerach 7acd2e93eb gps: Parse RTCM3 & NAV in parallel 2025-03-26 17:45:10 +01:00
Alexander Lerach 9fc9fb56d1 GPS Dump timeout increase + GPS overflow fix 2025-03-17 17:03:45 +01:00
Alexander Lerach f2471861a3 Fix GPS RTCM instance selection 2025-02-14 09:39:59 +01:00
alexklimaj 33841cf438 Update GPS submodule 2025-01-15 11:54:04 -05:00
Julian Oes 1778692ca2 gps: heading fixes for NMEA/Unicore 
This updates the GPS submodule which includes NMEA/Unicore fixes:

- Add correct return value for sat infos
- Only publish on position updates
- Request required topics at 5 Hz for Unicore
 2024-12-05 08:58:22 +13:00
S.W Develish b955588b26 bugfix: NMEA GPS update rate was 0 since num_bytes_read was not being… (#23957) 
* bugfix: NMEA GPS update rate was 0 since num_bytes_read was not being updated

* Update gps.cpp

style fix

* make format

---------

Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
 2024-11-17 16:16:50 -09:00
Julian Oes 8aec2d7c9f GPS: add velocity fields to Unicore 
It looks like vertical velocity as well as velocity accuracy are not
available using NMEA, so we extract all velocities from the Unicore
ACRICA message instead.
 2024-10-01 13:47:06 +13:00
Thomas Stauber f2f4488594 drivers/gps: publish secondary instance satellite_info if main instance is advertised 2024-08-19 11:14:12 -04:00
Matthias Grob f2bca92221 Fix duplicate newlines at the end of files 2024-07-19 14:33:36 +02:00
Daniel Agar 741c7ab610 Update submodule GPS drivers to latest Wed Jun 19 00:38:26 UTC 2024 
- GPS drivers in PX4/Firmware (e5d44cc1ba691f075bc2bce52dea7ec88af9e6cd): https://github.com/PX4/PX4-GPSDrivers/commit/0b79ec4dbe3e5ac5925c011067e7e294033a0a32
    - GPS drivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/a41210ede8c2d22dd8e9fdcf388fca927c1fc5e1
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/0b79ec4dbe3e5ac5925c011067e7e294033a0a32...a41210ede8c2d22dd8e9fdcf388fca927c1fc5e1

    a41210e 2024-06-18 Daniel Agar - sbf: fix code style
 2024-06-18 21:03:27 -04:00
Daniel Agar 81f26be846 Update submodule GPS drivers to latest Tue Jun 18 12:39:32 UTC 2024 
- GPS drivers in PX4/Firmware (c29d189788090f6994e488f65789a8fe6b835d8d): https://github.com/PX4/PX4-GPSDrivers/commit/d92cf3a2b2704d5509b651bfca33cdfea3a7a18a
    - GPS drivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/0b79ec4dbe3e5ac5925c011067e7e294033a0a32
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/d92cf3a2b2704d5509b651bfca33cdfea3a7a18a...0b79ec4dbe3e5ac5925c011067e7e294033a0a32

0b79ec4 2024-04-12 Thomas Frans - sbf: fix issue with automatic base config in QGC
5810dac 2024-04-12 Thomas Frans - style: add editorconfig file for consistent style
915024c 2024-03-26 Julian Oes - sbf: fix subsequent init in QGC
3ea1d76 2024-03-04 Julian Oes - sbf: don't foget to configure RTCM
c6da592 2024-03-04 Julian Oes - sbf: don't change baudrate of USB port

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2024-06-18 13:55:02 -04:00
Thomas Frans cd4c495377 drivers/gps: extract Septentrio into new standalone drivers/gnss/septentrio module (#22904) 
Having a generic interface over the GPS drivers makes dedicated
functionality for each driver harder. Move the Septentrio driver into
its own module under the `gnss` driver directory, and let it have its
own parameters for only the functionality it requires. This also helps
with adding new features because they only need to be implemented for
the driver that wants it, simplifying testing.
 2024-06-17 12:25:24 -04:00
Julian Oes b1b9c8fd99 gps: add note to param 
This notes the reference yaw angle for the Septentrio Mosaic-H.

It's unfortunately a bit tricky in that Unicore has the main antenna
in front by default while Septentrio decided to put the aux antenna in
front.

Signed-off-by: Julian Oes <julian@oes.ch>
 2024-05-07 21:15:44 -04:00
muramura b5467d88f7 gps: Change the IF statement to a SWITCH statement 2024-05-07 15:58:15 +02:00
Julian Oes e79993a316 gps: split enum after rebase 
Signed-off-by: Julian Oes <julian@oes.ch>
 2024-05-01 14:42:58 -04:00
alexklimaj c90ccabbe0 gps: add ZED-F9P-15B 2024-05-01 14:42:58 -04:00
Julian Oes 0283dc2459 gps: fix Septentrino serial read (#22936) 
For Septententrino we seem to sometimes fill the buffer pretty full.

If we ask for too much, readAtLeast will fail completely and make the
GPS discovery logic fall over. Therefore, let's not ask for too much and
just read what we can given the available buffer.

Signed-off-by: Julian Oes <julian@oes.ch>
 2024-04-01 20:46:53 -04:00
Eric Katzfey ccdf060393 Additions to the Serial UART API (#22953) 
- Added an empty constructor, setPort, and validatePort functions for Serial API
- Changed GPS to not allocate Serial object dynamically
- Moved access check on serial port name into the Serial API
- Improved the Qurt platform validatePort Serial function to implement a more rigorous check. Added safety check
to the setPort Serial function to make sure it isn't called after the port has been already opened.
 2024-04-01 12:27:59 -04:00
Eric Katzfey 69028f37a9 New platform independent Serial interface (#21723) 2024-03-21 21:00:23 -04:00
Thomas Frans bb9f4d42f3 gps: fix incorrect task id in module startup 2024-03-21 20:58:59 -04:00
Matthias Grob f26df8492f Update GPS drivers to contain the astyle fix 2024-02-15 15:23:06 +01:00
Daniel Agar 5f589bdda3 Update submodule GPSDrivers to latest Mon Feb 12 12:39:19 UTC 2024 
- GPSDrivers in PX4/Firmware (17ff40898c683e1fe96ff9e2d2790594d188f872): https://github.com/PX4/PX4-GPSDrivers/commit/3393191fbb842f8e13a3f296218efec832640112
    - GPSDrivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/f48cc01d31607baa4963bde090f530b44df3de12
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/3393191fbb842f8e13a3f296218efec832640112...f48cc01d31607baa4963bde090f530b44df3de12

    f48cc01 2024-02-08 Julian Oes - ubx: separate config for jamming monitor
bc72f55 2024-02-08 Julian Oes - sbf: simplify odd define

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2024-02-12 08:58:21 -05:00
Alex Klimaj 31bbda0b58 boards: new ARK Septentrio GPS CAN node(ark_septentrio-gps) 
* update gps submodule with sbf fix
* ARK Septentrio GPS initial commit
 2024-02-09 10:26:09 -05:00
Daniel Agar bc9ea95359 Update submodule GPSDrivers to latest Thu Jan 25 00:39:33 UTC 2024 
- GPSDrivers in PX4/Firmware (12af7ff9904b2fdde39513c56a3e084eb23bcc7a): https://github.com/PX4/PX4-GPSDrivers/commit/63990d218ec35ea965d634af6a79d3155561b743
    - GPSDrivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/836b24c10e0ccd0067500f367686acac6d34882d
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/63990d218ec35ea965d634af6a79d3155561b743...836b24c10e0ccd0067500f367686acac6d34882d

    836b24c 2023-12-11 bedaberner - ubx: fixed wrong mapping of ubx-sat-nav used parameter

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2024-01-24 21:48:40 -05:00
Daniel Agar 5af6cf1889 Update submodule GPS Drivers to latest Tue Nov 28 00:39:22 UTC 2023 
- GPS Drivers in PX4/Firmware (5ef3ae3f1ec5aecea5842306a63aec054eb599a9): https://github.com/PX4/PX4-GPSDrivers/commit/6e452c2c5b6a718dddc1df2a13eba4a7c729d9f2
    - GPS Drivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/63990d218ec35ea965d634af6a79d3155561b743
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/6e452c2c5b6a718dddc1df2a13eba4a7c729d9f2...63990d218ec35ea965d634af6a79d3155561b743

    63990d2 2023-11-22 Daniel Agar - nmea fix astyle whitespace

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2023-11-27 21:05:23 -05:00
Daniel Agar 58d6d03da3 Update submodule devices to latest Sun Nov 19 12:39:11 UTC 2023 
- GPS drivers in PX4/Firmware (0f7a34a64dd69ad074b47726eedeef147fe0f700): https://github.com/PX4/PX4-GPSDrivers/commit/b443b79f57c5e89353430940af9e4511ea8eb0b8
 - GPS drivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/6e452c2c5b6a718dddc1df2a13eba4a7c729d9f2
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/b443b79f57c5e89353430940af9e4511ea8eb0b8...6e452c2c5b6a718dddc1df2a13eba4a7c729d9f2

    6e452c2 2023-10-27 Robbie Drage - move NO_MKTIME compilation flags - removes dependency on tm struct being defined without MKTIME - removes unnecessary operations

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2023-11-19 11:49:39 -05:00
Julian Oes 329a2d0e98 gps: request Unicore HEADINGA message 
This updates the gps/devices submodule which includes a fix that
requests the Unicore HEADINGA message in case the message is not enabled
by default.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-08-30 11:31:22 +12:00
Roman Dvorak 1feb79f27f update gps submodule 2023-08-03 10:27:34 -04:00
Daniel Agar d928a3a8d0 Update submodule GPSDrivers to latest Thu Jul 27 12:39:18 UTC 2023 (#21897) 
- GPSDrivers in PX4/Firmware (9762316d8a0a84b5cb8563ab4c289416421d2801): https://github.com/PX4/PX4-GPSDrivers/commit/261480cb78a3ba60cdda2dcc95b874ebc2c9312c
    - GPSDrivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/b94378bcbbf3339670bda1f97820d6335f6937f5
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/261480cb78a3ba60cdda2dcc95b874ebc2c9312c...b94378bcbbf3339670bda1f97820d6335f6937f5

    b94378b 2023-07-26 Eric Katzfey - Fixing UBlox M10 support

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2023-07-27 10:33:22 -04:00
Sergei Grichine f000238987 SensorGps.msg: switch to double precision for lat/lon/alt 
To match https://github.com/PX4/PX4-GPSDrivers/pull/132 - adding high precision RTK lat/lon/alt components
 2023-07-13 07:50:09 +02:00
alexklimaj c3db4f57df Subscribe to all intances of gps_inject_data and mirror uavcan rtcm pub mirror gps driver 2023-06-09 14:51:28 +12:00
alexklimaj acd19a0520 Ublox add UBX-RXM-RTCM for RTCM input status 2023-06-09 14:51:28 +12:00
PX4 BuildBot 6c9dcd535c Update submodule devices to latest Fri May 19 12:38:42 UTC 2023 
- devices in PX4/Firmware (6a645f244654695f3b178b576f7f8972f87ad774): https://github.com/PX4/PX4-GPSDrivers/commit/7d19f689f0781ef4fcaa624b318fac3fe744e59b
    - devices current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/99f5960eca66150e33dc277e71a4c99187c27ddc
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/7d19f689f0781ef4fcaa624b318fac3fe744e59b...99f5960eca66150e33dc277e71a4c99187c27ddc

    99f5960 2023-05-02 Eric Katzfey - sbf: fixed compile errors for Qurt platform (#129)
 2023-05-19 08:41:21 -06:00
muramura 3c45b184d3 gps: Improve the FALSE setting of the ALREADY_COPIED variable 2023-05-08 07:04:11 +02:00
Julian Oes 1d4b66fcbc gps: use all injection data 
When we fall back to another link, we are already doing a uORB copy when
checking the data. Therefore, we should further down use/send that data
instead of overwriting it immediately.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-05-03 07:47:51 +02:00
Julian Oes 2fd3de8f45 gps: retry switching RTCM injection more often 
I don't think it makes sense to slow down switching RTCM injection to
once every 5 seconds. If we don't have corrections, we should check and
use whatever we get as soon as possible.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-05-03 07:47:51 +02:00
Julian Oes 6108b31e6a gps: reset RTCM instance 
We need to reset the instance after looping through all instances.
Otherwise, we are left with the last instance if none is valid but have
not updated the _selected_rtcm_instance which is what is logged.

Therefore, this change fixes the logged RTCM instance.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-05-03 07:47:51 +02:00
Thomas Stastny cb66c48876 drivers/gps: increase stack to handle gps dump config for RTCM output (PPK) 2023-04-19 17:08:15 +02:00
alexklimaj 752e3b450d Update GPS submodule 2023-04-14 07:35:43 +02:00
Seppe Geuens 7e0f929ad1 gps: add sbf with heading (#19374) 
Co-authored-by: Seppe Geuens <seppe.geuens@tii.ae>
 2023-04-13 07:44:35 +02:00
Thomas Stastny f4681f01b6 drivers/gps: increase stack 2023-04-04 07:16:21 +02:00
Julian Oes 93ba7de0c3 gps: fix protocol param max 
This seemed wrong.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-03-30 07:43:06 +02:00
alexklimaj e2de62e38b GPS only warn if jamming state is critical 2023-03-17 21:38:28 -04:00
Julian Oes 89548e4f9e gps: Support for Unicore HEADINGA sentence in NMEA 
This adds a parser for Unicore sentences sent in-between NMEA sentences.

This brings support for the Unicore UM982 module which publishes heading
information based on the two antennas.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-03-15 21:55:15 -04:00
AlexKlimaj e375e02974 Add GPS spoofing state 2023-03-14 20:28:32 -04:00
Igor Misic df441ac202 drivers/gps: add param for enabling protocols at i2c interface 2022-12-19 08:52:36 +01:00
Daniel Agar c12d9124bd Update submodule GPS drivers to latest Wed Dec 7 12:38:31 UTC 2022 
- GPS drivers in PX4/Firmware (4eb0a0598048df07c213659944b2720ee42e1cc2): https://github.com/PX4/PX4-GPSDrivers/commit/b49a6c257371abae6e26e0a3e0fc04b963b2f13d
    - GPS drivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/b76fc1df45952abbc76c7eb9f5a5ab3ae994bef2
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/b49a6c257371abae6e26e0a3e0fc04b963b2f13d...b76fc1df45952abbc76c7eb9f5a5ab3ae994bef2

    b76fc1d 2022-11-21 qst0528 - ashtech: fix position accuracy loss caused by misplaced integer cast (#118)

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2022-12-07 09:16:31 -05:00
alexklimaj 64768f1cda Increase allowed rtk injections to 8 for moving base. Update GPS submodule. 2022-11-18 11:04:17 -05:00