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187 Commits

Author SHA1 Message Date
Beat Küng
e6ad321ab2 gps: add GPS_{1,2}_PROTOCOL param to select protocol, default to u-blox 
u-blox is the most widely used GPS, so module detection should be a bit
faster in general.
 2020-11-04 10:26:49 -05:00
Beat Küng
ab43a94224 gps: keep track of RX data rate 2020-11-04 10:26:49 -05:00
Beat Küng
c5c521f5e0 gps: add support for u-blox heading with 2 F9P devices 2020-11-04 10:26:49 -05:00
FengShun
eac9a6b68b Replace PublicationQueued with Publication to automatically configure ORB_QUEUE_LENGTH 2020-10-26 13:01:13 +01:00
mcsauder
047531b924 Add MavlinkStreamGPSStatus status class stream via GPS_STATUS.hpp and add PRN code to satellite_info.msg. 2020-10-14 08:26:42 +02:00
Jacob Dahl
a24488328f Move GPS blending from ekf2 to sensors module 
- new sensors work item that subscribes to N x sensor_gps and publishes vehicle_gps_position
 - blending is now configurable with SENS_GPS_MASK and SENS_GPS_TAU

Co-authored-by: Jacob Crabill <jacob@volans-i.com>
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
 2020-09-25 23:28:31 -04:00
Beat Küng
2b0396d5df gps: use px4::atomic instead of volatile 2020-09-13 18:31:37 -04:00
Beat Küng
e906106ea2 gps: fix memory leak on module exit (delete _helper) 2020-09-13 18:31:37 -04:00
Daniel Agar
da186877c9 gps: only use injected data if copy successful 2020-05-09 11:46:39 -04:00
Daniel Agar
466b5db36f uORB::Publication improvements and cleanup (#14784) 
- create common uORB::PublicationBase
 - uORB::PublicationQueued types are now type aliases
 - ORB_PRIO use enum type everywhere to avoid accidental misuse
 - PX4Accelerometer/PX4Gyroscope/etc driver libs explicitly advertise on construction, unadvertise on destruction. This is a workaround for any potential issues that might appear when accel/gyro cdev and uORB indexing doesn't align.
 2020-05-04 11:09:30 -04:00
hzsu
f758a9f29d Update gps.cpp 
'BeiDou' is a navigation satellite system from China, while 'Baidu' is a search engine.
So it is supposed to change it from 'Baidu' to 'BeiDou'.
 2020-01-11 22:27:17 +05:30
Daniel Agar
7166b867e1 NuttX stackcheck exclude PX4 Matrix and Param 
- instrumenting PX4 Matrix and Param methods is too burdensome
 - partially restore px4_fmu-v5_stackcheck and holybro_durandal-v1_stackcheck to match default configs
 2020-01-06 18:15:55 -05:00
Daniel Agar
349739b812 gps driver update orb_publish usage to uORB::PublicationMulti<> 2019-11-30 15:52:53 -05:00
David Sidrane
e847698c9f PX4 System changes Supporting STM32H7 
stm32:ToneAlarmInterfacePWM TIM15-TIM17 have a BDTR Register

common:board_crashdump Add H7 support

stm32/board_mcu_version:Support H7

PX4 ADC:Use 32 interface and resoution abstraction

Added PX4 stm32h7 ADC driver

stm32h7:adc fix ADC ready check

fmu: handle BOARD_HAS_PWM==5

cmake: improve error handling for NuttX olddefconfig failures

WorkQueueManager:Quiet loadmon stack warning

camera_trigger:GPIO support < 6 GPIO

Adjust stack sizes (under hw stack check)

PX4 System changes Supporting STM32H7 PX4IO Driver

aerotenna_ocpoc:ADC add px4_arch_adc_dn_fullcount

init.cmake:Track Upstream change needing Make.def at config time

PX4 System changes Supporting STM32H7

NuttX CMakeLists.txt Track upstream changes

Common board_crashdump add header and px4 config

NuttX simplify callinb make libapps

Use UINT32_MAX for error return

drivers:uavcannode NuttX chip is now hardware

drivers:uavcanesc NuttX chip is now hardware

px4io:Avoid Race on AP to PX4 IO upgrade
 2019-11-16 11:43:42 +01:00
Daniel Agar
1c4e854f93 cmake don't build param "c" files and remove param defines 
- these aren't actual source code
 2019-11-11 10:25:42 -05:00
Beat Küng
3198610f85 src/platforms: move all headers to platforms/common/include/px4_platform_common 
and remove the px4_ prefix, except for px4_config.h.

command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done

Transitional headers for submodules are added (px4_{defines,log,time}.h)
 2019-10-30 11:48:47 +01:00
Daniel Agar
c284198bec clang-tidy: partially fix hicpp-use-override 2019-10-28 10:50:31 -04:00
Daniel Agar
690aeef186 drivers/gps: increase task stack 2019-08-28 21:20:45 -04:00
alessandro
2cb26dd5f5 GPS: Prevent injection from choking the driver (#12710) 
Sending a continuous stream of injection messages can cause the
GPS driver to get stuck indefinitely in the handling loop.
 2019-08-23 19:12:20 -04:00
Daniel Agar
e69398c09f introduce uORB::PublicationQueued and transition most orb_advertise_queue usage 2019-08-04 10:08:09 -04:00
mcsauder
35e5327cc9 Delete unnecessary #includes in the gps driver directory. 2019-07-08 23:45:01 -04:00
Daniel Agar
f2b4480e6b GPS driver update to uORB::Subscription 2019-06-05 08:18:02 +02:00
Julian Oes
b20feacdb5 drivers: fix -Wstringop-truncation 
GCC 9 complained about stringop-truncation which is a cautionary message
to prevent using strncpy with non-null terminated strings.

We can fix this by copying one byte less than the destination size and
then manually adding the null termination, as we already do.
 2019-05-16 13:06:25 +02:00
Matej Frančeškin
9782aecc73 Added GPS reset command 2019-02-19 16:30:42 +01:00
bastien
1990338a3f gps: Support for Emlid Reach 
Support Emlid Reach in ERB format,
including autodetect

Reported-by: Bastien Auneau <bastien.auneau@while-true.fr>
 2019-02-04 09:10:11 -05:00
Daniel Agar
95eff33263 GPS increase task stack 1530 -> 1600 bytes 2019-01-18 12:07:28 -05:00
Julian Oes
5b9dea5604 Replacing usleep with px4_usleep 
This is a step towards isolating time from the system.
 2018-12-22 10:32:18 +01:00
Daniel Agar
76a6cd10b1 delete unnecessary drv_gps.h 2018-11-06 07:43:43 +08:00
Beat Küng
52fc56a61f gps: explicitly set SPI bus speed to 1MHz 
Required on RPi, the default seems to be too high.
 2018-10-30 20:36:25 -04:00
Paul Riseborough
e39afb148d drivers: publish GPS antenna heading offset 2018-10-17 09:48:38 -04:00
Beat Küng
fb04a611c5 gps: reduce stack size 
A buffer size of the gps drivers got reduced by 100 bytes.
 2018-10-02 14:14:10 +02:00
Beat Küng
cef6cf96f8 gps: reduce delay by reducing the sleep time 
This uses now the same sleep time logic as mavlink, depending on the
baudrate.

CPU usage on a Pixracer for different sleep times:

#num reads/sec    sleep time         CPU usage
17-18             2.8ms              0.233-0.31% (this PR)
12                5ms                0.155-0.3%
9-10              10ms               0.155-0.233%
6                 20ms               0.155-0.233% (previous)
 2018-10-02 14:14:10 +02:00
Beat Küng
b5e552924a serial drivers/modules: add yaml config files 2018-09-25 07:53:29 +02:00
Beat Küng
546886259f boards: remove GPS_DEFAULT_UART_PORT 
Not required anymore.
 2018-09-25 07:53:29 +02:00
Paul Riseborough
ad1c2b31d1 drivers: Always set GPS heading to NAN if not updated 2018-08-28 14:10:36 +02:00
Paul Riseborough
b2c7b44935 drivers: Prevent duplicate reporting of GPS heading 2018-08-28 14:10:36 +02:00
Beat Küng
81f0b64ad3 gps: add SER_GPS1_BAUD param to configure the baudrate 
The default is auto-detect, but some GPS devices might not like that, such
as the Trimble MB-Two.
 2018-08-07 02:07:49 +02:00
Beat Küng
e1f2360560 gps: remove unused field _baudrate_changed & _mode_changed 2018-07-16 12:18:37 +02:00
Beat Küng
4d71686ac6 gps: add GPS_YAW_OFFSET param & properly initialize _baudrate 2018-07-16 12:18:37 +02:00
Beat Küng
a947ad2506 gps: remove unused code & fix _mode_auto initialization 2018-07-16 12:18:37 +02:00
Beat Küng
43c2970fb9 vehicle_gps_position: add heading field 2018-07-16 12:18:37 +02:00
Daniel Agar
effeae93cc GPS initialize all class members in definition 2018-07-15 20:34:31 +02:00
Daniel Agar
94dd6abd9f GPS organize status print 2018-07-15 20:34:31 +02:00
Lorenz Meier
5dd981a7be GPS driver: Initialize baud rate and improve output 2018-07-15 20:34:31 +02:00
Daniel Agar
21cc34befb GPS driver increase stack 2018-07-12 08:12:05 +02:00
David Sidrane
ae389ed0e3 Revert "gps: reopen the gps port on failed auto-detection" 
This reverts commit a62a71f48f.
   The root cause was the camera trigger passing invalid pin
   configuration setting overwriting the UART4 TX pin setting
 2018-06-14 15:03:39 -04:00
Daniel Agar
d73d20bcce systemlib delete unused systemlib.h 2018-06-12 09:06:30 +02:00
Beat Küng
a62a71f48f gps: reopen the gps port on failed auto-detection 
work-around for https://github.com/PX4/Firmware/issues/9461
 2018-06-07 22:20:47 +02:00
Beat Küng
13ab5ed0d0 px4_main_t: fix method declaration throughout the code base 
px4_main_t is defined as:
typedef int (*px4_main_t)(int argc, char *argv[]);
which matches with the definition in NuttX, given to task_create
 2018-05-09 07:59:46 +02:00
Daniel Agar
ea3acb7121 cmake remove circular linking and reorganize 
- px4_add_module now requires MAIN
 - px4_add_library doesn't automatically link
 2018-04-29 21:48:54 -04:00