diff options
Diffstat (limited to 'src/drivers/gps/ubx.cpp')
-rw-r--r-- | src/drivers/gps/ubx.cpp | 125 |
1 files changed, 106 insertions, 19 deletions
diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp index 44434a1df..d0854f5e9 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; - } - - configure_message_rate(UBX_MSG_NAV_TIMEUTC, 5); - - 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_SOL, 1); + 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_VELNED, 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_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(); |