uavcannode: publisher for gnss.quality

msg/SensorGps.msg

@@ -73,6 +73,22 @@ uint32 SYSTEM_ERROR_CPU_OVERLOAD         = 32
 uint32 SYSTEM_ERROR_OUTPUT_CONGESTION    = 64
 uint32 system_error                      # General errors with the connected GPS receiver
 
+uint16 diff_age			# Differential correction age [seconds]. 0xFFFF = unavailable.
+
+uint8 ANTENNA_STATUS_UNKNOWN = 0
+uint8 ANTENNA_STATUS_INIT    = 1
+uint8 ANTENNA_STATUS_OK      = 2
+uint8 ANTENNA_STATUS_SHORT   = 3
+uint8 ANTENNA_STATUS_OPEN    = 4
+uint8 antenna_status		# Antenna supervisor state
+
+uint8 ANTENNA_POWER_UNKNOWN  = 0
+uint8 ANTENNA_POWER_OFF      = 1
+uint8 ANTENNA_POWER_ON       = 2
+uint8 antenna_power		# Antenna power status
+
+uint8 fix_quality		# Fix quality/confidence indicator [0-100]. 0 = no confidence, 100 = full confidence.
+
 float32 heading			# heading angle of XYZ body frame rel to NED. Set to NaN if not available and updated (used for dual antenna GPS), (rad, [-PI, PI])
 float32 heading_offset		# heading offset of dual antenna array in body frame. Set to NaN if not applicable. (rad, [-PI, PI])
 float32 heading_accuracy	# heading accuracy (rad, [0, 2PI])

src/drivers/uavcan/sensors/gnss.cpp

@@ -57,6 +57,7 @@ UavcanGnssBridge::UavcanGnssBridge(uavcan::INode &node, NodeInfoPublisher *node_
 	UavcanSensorBridgeBase("uavcan_gnss", ORB_ID(sensor_gps), node_info_publisher),
 	_node(node),
 	_sub_auxiliary(node),
+	_sub_quality(node),
 	_sub_fix(node),
 	_sub_fix2(node),
 	_sub_gnss_heading(node),
@@ -90,6 +91,13 @@ UavcanGnssBridge::init()
 		return res;
 	}
 
+	res = _sub_quality.start(QualityCbBinder(this, &UavcanGnssBridge::gnss_quality_sub_cb));
+
+	if (res < 0) {
+		PX4_WARN("GNSS quality sub failed %i", res);
+		return res;
+	}
+
 	res = _sub_fix.start(FixCbBinder(this, &UavcanGnssBridge::gnss_fix_sub_cb));
 
 	if (res < 0) {
@@ -152,6 +160,13 @@ UavcanGnssBridge::gnss_auxiliary_sub_cb(const uavcan::ReceivedDataStructure<uavc
 	_last_gnss_auxiliary_vdop = msg.vdop;
 }
 
+void
+UavcanGnssBridge::gnss_quality_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Quality> &msg)
+{
+	_last_gnss_quality_timestamp = hrt_absolute_time();
+	_last_quality = msg;
+}
+
 void
 UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg)
 {
@@ -557,6 +572,21 @@ void UavcanGnssBridge::process_fixx(const uavcan::ReceivedDataStructure<FixType>
 	sensor_gps.selected_rtcm_instance = _selected_rtcm_instance;
 	sensor_gps.rtcm_injection_rate = _rtcm_injection_rate;
 
+	// Apply cached Quality message fields (if received within last 2s)
+	if (hrt_elapsed_time(&_last_gnss_quality_timestamp) < 2_s) {
+		sensor_gps.noise_per_ms           = _last_quality.noise;
+		sensor_gps.automatic_gain_control = _last_quality.agc;
+		sensor_gps.jamming_state          = _last_quality.jamming_state;
+		sensor_gps.jamming_indicator      = _last_quality.jamming_indicator;
+		sensor_gps.spoofing_state         = _last_quality.spoofing_state;
+		sensor_gps.authentication_state   = _last_quality.auth_state;
+		sensor_gps.diff_age               = _last_quality.diff_age;
+		sensor_gps.antenna_status         = _last_quality.antenna_status;
+		sensor_gps.antenna_power          = _last_quality.antenna_power;
+		sensor_gps.fix_quality            = _last_quality.fix_quality;
+		sensor_gps.system_error           = _last_quality.system_errors;
+	}
+
 	publish(msg.getSrcNodeID().get(), &sensor_gps);
 }
 

src/drivers/uavcan/sensors/gnss.hpp

@@ -55,6 +55,7 @@
 #include <uavcan/equipment/gnss/Auxiliary.hpp>
 #include <uavcan/equipment/gnss/Fix.hpp>
 #include <uavcan/equipment/gnss/Fix2.hpp>
+#include <uavcan/equipment/gnss/Quality.hpp>
 #include <ardupilot/gnss/MovingBaselineData.hpp>
 #include <ardupilot/gnss/RelPosHeading.hpp>
 #include <uavcan/equipment/gnss/RTCMStream.hpp>
@@ -82,6 +83,7 @@ private:
 	 * GNSS fix message will be reported via this callback.
 	 */
 	void gnss_auxiliary_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Auxiliary> &msg);
+	void gnss_quality_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Quality> &msg);
 	void gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg);
 	void gnss_fix2_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix2> &msg);
 	void gnss_relative_sub_cb(const uavcan::ReceivedDataStructure<ardupilot::gnss::RelPosHeading> &msg);
@@ -106,6 +108,10 @@ private:
 		void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Auxiliary> &) >
 		AuxiliaryCbBinder;
 
+	typedef uavcan::MethodBinder < UavcanGnssBridge *,
+		void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Quality> &) >
+		QualityCbBinder;
+
 	typedef uavcan::MethodBinder < UavcanGnssBridge *,
 		void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &) >
 		FixCbBinder;
@@ -129,6 +135,7 @@ private:
 	uavcan::INode &_node;
 
 	uavcan::Subscriber<uavcan::equipment::gnss::Auxiliary, AuxiliaryCbBinder> _sub_auxiliary;
+	uavcan::Subscriber<uavcan::equipment::gnss::Quality, QualityCbBinder> _sub_quality;
 	uavcan::Subscriber<uavcan::equipment::gnss::Fix, FixCbBinder> _sub_fix;
 	uavcan::Subscriber<uavcan::equipment::gnss::Fix2, Fix2CbBinder> _sub_fix2;
 	uavcan::Subscriber<ardupilot::gnss::RelPosHeading, RelPosHeadingCbBinder> _sub_gnss_heading;
@@ -143,6 +150,9 @@ private:
 	float		_last_gnss_auxiliary_hdop{0.0f};
 	float		_last_gnss_auxiliary_vdop{0.0f};
 
+	uint64_t	_last_gnss_quality_timestamp{0};
+	uavcan::equipment::gnss::Quality _last_quality{};
+
 	uORB::SubscriptionMultiArray<gps_inject_data_s, gps_inject_data_s::MAX_INSTANCES> _orb_inject_data_sub{ORB_ID::gps_inject_data};
 	hrt_abstime		_last_rtcm_injection_time{0};	///< time of last rtcm injection
 	uint8_t			_selected_rtcm_instance{0};	///< uorb instance that is being used for RTCM corrections

src/drivers/uavcannode/Publishers/GnssQuality.hpp

@@ -0,0 +1,99 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "UavcanPublisherBase.hpp"
+
+#include <uavcan/equipment/gnss/Quality.hpp>
+
+#include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/sensor_gps.h>
+
+namespace uavcannode
+{
+
+class GnssQuality :
+	public UavcanPublisherBase,
+	public uORB::SubscriptionCallbackWorkItem,
+	private uavcan::Publisher<uavcan::equipment::gnss::Quality>
+{
+public:
+	GnssQuality(px4::WorkItem *work_item, uavcan::INode &node) :
+		UavcanPublisherBase(uavcan::equipment::gnss::Quality::DefaultDataTypeID),
+		uORB::SubscriptionCallbackWorkItem(work_item, ORB_ID(sensor_gps)),
+		uavcan::Publisher<uavcan::equipment::gnss::Quality>(node)
+	{
+		this->setPriority(uavcan::TransferPriority::Default);
+	}
+
+	void PrintInfo() override
+	{
+		if (uORB::SubscriptionCallbackWorkItem::advertised()) {
+			printf("\t%s -> %s:%d\n",
+			       uORB::SubscriptionCallbackWorkItem::get_topic()->o_name,
+			       uavcan::equipment::gnss::Quality::getDataTypeFullName(),
+			       id());
+		}
+	}
+
+	void BroadcastAnyUpdates() override
+	{
+		using uavcan::equipment::gnss::Quality;
+
+		// sensor_gps -> uavcan::equipment::gnss::Quality
+		sensor_gps_s gps;
+
+		if (uORB::SubscriptionCallbackWorkItem::update(&gps)) {
+			uavcan::equipment::gnss::Quality quality{};
+
+			quality.noise              = gps.noise_per_ms;
+			quality.agc                = gps.automatic_gain_control;
+			quality.jamming_state      = gps.jamming_state;
+			quality.jamming_indicator  = gps.jamming_indicator;
+			quality.spoofing_state     = gps.spoofing_state;
+			quality.auth_state         = gps.authentication_state;
+			quality.diff_age           = gps.diff_age;
+			quality.antenna_status     = gps.antenna_status;
+			quality.antenna_power      = gps.antenna_power;
+			quality.fix_quality        = gps.fix_quality;
+			quality.system_errors      = gps.system_error;
+
+			uavcan::Publisher<uavcan::equipment::gnss::Quality>::broadcast(quality);
+
+			// ensure callback is registered
+			uORB::SubscriptionCallbackWorkItem::registerCallback();
+		}
+	}
+};
+} // namespace uavcannode

src/drivers/uavcannode/UavcanNode.cpp

@@ -59,6 +59,7 @@
 #if defined(CONFIG_UAVCANNODE_GNSS_FIX)
 #include "Publishers/GnssFix2.hpp"
 #include "Publishers/GnssAuxiliary.hpp"
+#include "Publishers/GnssQuality.hpp"
 #endif // CONFIG_UAVCANNODE_GNSS_FIX
 
 #if defined(CONFIG_UAVCANNODE_INDICATED_AIR_SPEED)
@@ -385,6 +386,7 @@ int UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events
 #if defined(CONFIG_UAVCANNODE_GNSS_FIX)
 	_publisher_list.add(new GnssFix2(this, _node));
 	_publisher_list.add(new GnssAuxiliary(this, _node));
+	_publisher_list.add(new GnssQuality(this, _node));
 #endif // CONFIG_UAVCANNODE_GNSS_FIX
 
 #if defined(CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH)