Device independent GPS code (interface) More...

#include "std.h"
#include "math/pprz_geodetic_int.h"
#include "math/pprz_geodetic_float.h"
#include "mcu_periph/sys_time.h"
#include "generated/airframe.h"

Include dependency graph for gps.h:

Go to the source code of this file.

Data Structures
struct	SVinfo
	data structure for Space Vehicle Information of a single satellite More...

struct	GpsState
	data structure for GPS information More...

struct	GpsTimeSync
	data structure for GPS time sync More...

struct	GpsRelposNED
	data structures for GPS with RTK capabilities More...

Macros
#define	GPS_FIX_NONE 0x00
	No GPS fix. More...

#define	GPS_FIX_2D 0x02
	2D GPS fix More...

#define	GPS_FIX_3D 0x03
	3D GPS fix More...

#define	GPS_FIX_DGPS 0x04
	DGPS fix. More...

#define	GPS_FIX_RTK 0x05
	RTK GPS fix. More...

#define	GPS_VALID_POS_ECEF_BIT 0

#define	GPS_VALID_POS_LLA_BIT 1

#define	GPS_VALID_POS_UTM_BIT 2

#define	GPS_VALID_VEL_ECEF_BIT 3

#define	GPS_VALID_VEL_NED_BIT 4

#define	GPS_VALID_HMSL_BIT 5

#define	GPS_VALID_COURSE_BIT 6

#define	GPS_NB_CHANNELS 40

#define	GPS_MODE_AUTO 0

#define	GPS_MODE_PRIMARY 1

#define	GPS_MODE_SECONDARY 2

#define	MULTI_GPS_MODE GPS_MODE_AUTO

#define	__GpsId(_x) _x ## _ID

#define	_GpsId(_x) __GpsId(_x)

#define	GpsId(_x) _GpsId(_x)

#define	GpsFixValid() gps_fix_valid()

#define	GpsIsLost() !GpsFixValid()

#define	GPS_TIMEOUT 2
	GPS timeout in seconds in case of communication loss with GPS module. More...

Functions
void	gps_init (void)
	initialize the global GPS state More...

void	gps_inject_data (uint8_t packet_id, uint8_t length, uint8_t *data)
	GPS packet injection (default empty) More...

void	gps_parse_GPS_INJECT (uint8_t *buf)

void	gps_parse_RTCM_INJECT (uint8_t *buf)

bool	gps_fix_valid (void)
	Check if GPS fix is valid. More...

void	gps_periodic_check (struct GpsState *gps_s)
	Periodic GPS check. More...

static bool	gps_has_been_good (void)

static float	gps_time_since_last_3dfix (void)
	Returns the time since last 3D fix in seconds (float) More...

uint32_t	gps_tow_from_sys_ticks (uint32_t sys_ticks)
	Convert time in sys_time ticks to GPS time of week. More...

struct LlaCoor_f	lla_float_from_gps (struct GpsState *gps_s)
	Get GPS lla (float) Converted on the fly if not available. More...

struct LlaCoor_i	lla_int_from_gps (struct GpsState *gps_s)
	Get GPS lla (integer) Converted on the fly if not available. More...

struct EcefCoor_f	ecef_float_from_gps (struct GpsState *gps_s)
	Get GPS ecef pos (float) Converted on the fly if not available. More...

struct EcefCoor_i	ecef_int_from_gps (struct GpsState *gps_s)
	Get GPS ecef pos (integer) Converted on the fly if not available. More...

struct EcefCoor_f	ecef_vel_float_from_gps (struct GpsState *gps_s)
	Get GPS ecef velocity (float) Converted on the fly if not available. More...

struct EcefCoor_i	ecef_vel_int_from_gps (struct GpsState *gps_s)
	Get GPS ecef velocity (integer) Converted on the fly if not available. More...

struct NedCoor_f	ned_vel_float_from_gps (struct GpsState *gps_s)
	Get GPS ned velocity (float) Converted on the fly if not available. More...

struct NedCoor_i	ned_vel_int_from_gps (struct GpsState *gps_s)
	Get GPS ned velocity (integer) Converted on the fly if not available. More...

struct UtmCoor_f	utm_float_from_gps (struct GpsState *gps_s, uint8_t zone)
	Convenience function to get utm position in float from GPS structure. More...

struct UtmCoor_i	utm_int_from_gps (struct GpsState *gps_s, uint8_t zone)
	Convenience function to get utm position in int from GPS structure. More...

uint16_t	gps_day_number (uint16_t year, uint8_t month, uint8_t day)
	Number of days since navigation epoch (6 January 1980) More...

uint16_t	gps_week_number (uint16_t year, uint8_t month, uint8_t day)
	Number of weeks since navigation epoch (6 January 1980) More...

Variables
uint8_t	multi_gps_mode

struct GpsRelposNED	gps_relposned

struct GpsState	gps
	global GPS state More...

struct GpsTimeSync	gps_time_sync

Detailed Description

Device independent GPS code (interface)

Definition in file gps.h.

Data Structure Documentation

◆ SVinfo

struct SVinfo

data structure for Space Vehicle Information of a single satellite

Definition at line 76 of file gps.h.

Data Fields
int16_t	azim	azimuth in deg
uint8_t	cno	Carrier to Noise Ratio (Signal Strength) in dbHz.
int8_t	elev	elevation in deg
uint8_t	flags	bitfield with GPS receiver specific flags
uint8_t	qi	quality bitfield (GPS receiver specific)
uint8_t	svid	Satellite ID.

◆ GpsState

struct GpsState

data structure for GPS information

Definition at line 86 of file gps.h.

Collaboration diagram for GpsState:

Data Fields
uint32_t	cacc	course accuracy in rad*1e7
uint8_t	comp_id	id of current gps
int32_t	course	GPS course over ground in rad1e7, [0, 2Pi]*1e7 (CW/north)
struct EcefCoor_i	ecef_pos	position in ECEF in cm
struct EcefCoor_i	ecef_vel	speed ECEF in cm/s
uint8_t	fix	status of fix
uint16_t	gspeed	norm of 2d ground speed in cm/s
uint32_t	hacc	horizontal accuracy in cm
int32_t	hmsl	height above mean sea level (MSL) in mm
uint32_t	last_3dfix_ticks	cpu time ticks at last valid 3D fix
uint32_t	last_3dfix_time	cpu time in sec at last valid 3D fix
uint32_t	last_msg_ticks	cpu time ticks at last received GPS message
uint32_t	last_msg_time	cpu time in sec at last received GPS message
struct LlaCoor_i	lla_pos	position in LLA (lat,lon: deg*1e7; alt: mm over ellipsoid)
uint8_t	nb_channels	Number of scanned satellites.
struct NedCoor_i	ned_vel	speed NED in cm/s
uint8_t	num_sv	number of sat in fix
uint32_t	pacc	position accuracy in cm
uint16_t	pdop	position dilution of precision scaled by 100
uint16_t	reset	hotstart, warmstart, coldstart
uint32_t	sacc	speed accuracy in cm/s
uint16_t	speed_3d	norm of 3d speed in cm/s
struct SVinfo	svinfos[GPS_NB_CHANNELS]	holds information from the Space Vehicles (Satellites)
uint32_t	tow	GPS time of week in ms.
struct UtmCoor_i	utm_pos	position in UTM (north,east: cm; alt: mm over MSL)
uint32_t	vacc	vertical accuracy in cm
uint8_t	valid_fields	bitfield indicating valid fields (GPS_VALID_x_BIT)
uint16_t	week	GPS week.

◆ GpsTimeSync

struct GpsTimeSync

data structure for GPS time sync

Definition at line 121 of file gps.h.

Data Fields
uint32_t	t0_ticks	hw clock ticks when GPS message is received
uint32_t	t0_tow	GPS time of week in ms from last message.
int32_t	t0_tow_frac	fractional ns remainder of tow [ms], range -500000 .. 500000

◆ GpsRelposNED

struct GpsRelposNED

data structures for GPS with RTK capabilities

Definition at line 128 of file gps.h.

Data Fields
uint32_t	accD
uint32_t	accE
uint32_t	accN
uint8_t	carrSoln
uint8_t	diffSoln
uint8_t	gnssFixOK
uint32_t	iTOW
uint16_t	refStationId
int32_t	relPosD
int32_t	relPosE
float	relPosHeading
int8_t	relPosHPD
int8_t	relPosHPE
int8_t	relPosHPN
float	relPosLength
int32_t	relPosN
uint8_t	relPosValid

Macro Definition Documentation

◆ __GpsId

#define __GpsId ( _x ) _x ## _ID

Definition at line 68 of file gps.h.

◆ _GpsId

#define _GpsId ( _x ) __GpsId(_x)

Definition at line 69 of file gps.h.

◆ GPS_FIX_2D

#define GPS_FIX_2D 0x02

2D GPS fix

Definition at line 42 of file gps.h.

◆ GPS_FIX_3D

#define GPS_FIX_3D 0x03

3D GPS fix

Definition at line 43 of file gps.h.

◆ GPS_FIX_DGPS

#define GPS_FIX_DGPS 0x04

DGPS fix.

Definition at line 44 of file gps.h.

◆ GPS_FIX_NONE

#define GPS_FIX_NONE 0x00

No GPS fix.

Definition at line 41 of file gps.h.

◆ GPS_FIX_RTK

#define GPS_FIX_RTK 0x05

RTK GPS fix.

Definition at line 45 of file gps.h.

◆ GPS_MODE_AUTO

#define GPS_MODE_AUTO 0

Definition at line 59 of file gps.h.

◆ GPS_MODE_PRIMARY

#define GPS_MODE_PRIMARY 1

Definition at line 60 of file gps.h.

◆ GPS_MODE_SECONDARY

#define GPS_MODE_SECONDARY 2

Definition at line 61 of file gps.h.

◆ GPS_NB_CHANNELS

#define GPS_NB_CHANNELS 40

Definition at line 56 of file gps.h.

◆ GPS_TIMEOUT

#define GPS_TIMEOUT 2

GPS timeout in seconds in case of communication loss with GPS module.

Definition at line 185 of file gps.h.

◆ GPS_VALID_COURSE_BIT

#define GPS_VALID_COURSE_BIT 6

Definition at line 53 of file gps.h.

◆ GPS_VALID_HMSL_BIT

#define GPS_VALID_HMSL_BIT 5

Definition at line 52 of file gps.h.

◆ GPS_VALID_POS_ECEF_BIT

#define GPS_VALID_POS_ECEF_BIT 0

Definition at line 47 of file gps.h.

◆ GPS_VALID_POS_LLA_BIT

#define GPS_VALID_POS_LLA_BIT 1

Definition at line 48 of file gps.h.

◆ GPS_VALID_POS_UTM_BIT

#define GPS_VALID_POS_UTM_BIT 2

Definition at line 49 of file gps.h.

◆ GPS_VALID_VEL_ECEF_BIT

#define GPS_VALID_VEL_ECEF_BIT 3

Definition at line 50 of file gps.h.

◆ GPS_VALID_VEL_NED_BIT

#define GPS_VALID_VEL_NED_BIT 4

Definition at line 51 of file gps.h.

◆ GpsFixValid

#define GpsFixValid ( ) gps_fix_valid()

Definition at line 176 of file gps.h.

◆ GpsId

#define GpsId ( _x ) _GpsId(_x)

Definition at line 70 of file gps.h.

◆ GpsIsLost

#define GpsIsLost ( ) !GpsFixValid()

Definition at line 178 of file gps.h.

◆ MULTI_GPS_MODE

#define MULTI_GPS_MODE GPS_MODE_AUTO

Definition at line 64 of file gps.h.

Function Documentation

◆ ecef_float_from_gps()

struct EcefCoor_f ecef_float_from_gps ( struct GpsState * gps_s )

Get GPS ecef pos (float) Converted on the fly if not available.

Parameters

[in] gps_s pointer to the gps structure

Returns: ecef position in float (m)

Definition at line 409 of file gps.c.

References gps_inject_data().

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◆ ecef_int_from_gps()

struct EcefCoor_i ecef_int_from_gps ( struct GpsState * gps_s )

Get GPS ecef pos (integer) Converted on the fly if not available.

Parameters

[in] gps_s pointer to the gps structure

Returns: ecef position in cm

Definition at line 409 of file gps.c.

Referenced by gps_cb(), ins_float_invariant_update_gps(), ins_int_update_gps(), and ins_reset_local_origin().

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◆ ecef_vel_float_from_gps()

struct EcefCoor_f ecef_vel_float_from_gps ( struct GpsState * gps_s )

Get GPS ecef velocity (float) Converted on the fly if not available.

Parameters

[in] gps_s pointer to the gps structure

Returns: ecef velocity in float (m/s)

Definition at line 409 of file gps.c.

Referenced by gps_cb(), and ins_float_invariant_update_gps().

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◆ ecef_vel_int_from_gps()

struct EcefCoor_i ecef_vel_int_from_gps ( struct GpsState * gps_s )

Get GPS ecef velocity (integer) Converted on the fly if not available.

Parameters

[in] gps_s pointer to the gps structure

Returns: ecef velocity in cm/s

Definition at line 409 of file gps.c.

Referenced by gps_cb(), and ins_int_update_gps().

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◆ gps_day_number()

uint16_t gps_day_number	(	uint16_t	year,
		uint8_t	month,
		uint8_t	day
	)

Number of days since navigation epoch (6 January 1980)

Parameters

[in]	year	current year
[in]	month	current month
[in]	day	current day

Returns: number of days since navigation epoch

Definition at line 611 of file gps.c.

References month_days.

Referenced by gps_week_number().

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◆ gps_fix_valid()

bool gps_fix_valid ( void )

Check if GPS fix is valid.

If GPS_FIX_TIMEOUT is configured, check for 3D fix with timeout, otherwise, returns the last value from GPS module

Definition at line 282 of file gps.c.

References GpsState::fix, get_sys_time_float(), gps, GPS_FIX_3D, and gps_time_since_last_3dfix().

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◆ gps_has_been_good()

static bool gps_has_been_good ( void )

inlinestatic

Definition at line 194 of file gps.h.

References GpsFixValid.

◆ gps_init()

void gps_init ( void )

initialize the global GPS state

Definition at line 321 of file gps.c.

References ABI_BROADCAST, GpsState::cacc, DefaultPeriodic, GpsState::fix, gpio_setup_output(), gps, gps_cb(), gps_ev, GPS_FIX_NONE, GPS_POWER_GPIO, gps_relposned, GpsState::hacc, GpsState::last_3dfix_ticks, GpsState::last_3dfix_time, GpsState::last_msg_ticks, GpsState::last_msg_time, LED_OFF, multi_gps_mode, MULTI_GPS_MODE, preflight_check_register(), register_periodic_telemetry(), GpsRelposNED::relPosHeading, send_gps(), send_gps_int(), send_gps_lla(), send_gps_rtk(), send_gps_sol(), send_svinfo(), GpsState::tow, GpsState::vacc, GpsState::valid_fields, and GpsState::week.

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◆ gps_inject_data()

void gps_inject_data	(	uint8_t	packet_id,
		uint8_t	length,
		uint8_t *	data
	)

GPS packet injection (default empty)

Definition at line 390 of file gps.c.

References gps_piksi_write(), and sbp_state.

Referenced by ecef_float_from_gps(), and gps_parse_GPS_INJECT().

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◆ gps_parse_GPS_INJECT()

void gps_parse_GPS_INJECT ( uint8_t * buf )

Definition at line 396 of file gps.c.

References gps_inject_data().

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◆ gps_parse_RTCM_INJECT()

void gps_parse_RTCM_INJECT ( uint8_t * buf )

Definition at line 409 of file gps.c.

◆ gps_periodic_check()

void gps_periodic_check ( struct GpsState * gps_s )

Periodic GPS check.

Marks GPS as lost when no GPS message was received for GPS_TIMEOUT seconds

Definition at line 266 of file gps.c.

References GpsState::comp_id, GpsState::fix, gps, GPS_FIX_NONE, GPS_TIMEOUT, GpsState::last_msg_time, and sys_time::nb_sec.

Referenced by dw1000_arduino_periodic(), and gps_ubx_periodic_check().

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◆ gps_time_since_last_3dfix()

static float gps_time_since_last_3dfix ( void )

inlinestatic

Returns the time since last 3D fix in seconds (float)

Definition at line 204 of file gps.h.

References sys_time::cpu_ticks_per_sec, gps, GpsState::last_3dfix_ticks, and GpsState::last_3dfix_time.

Referenced by gps_fix_valid().

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◆ gps_tow_from_sys_ticks()

uint32_t gps_tow_from_sys_ticks ( uint32_t sys_ticks )

Convert time in sys_time ticks to GPS time of week.

The resolution is sys_time.resolution

Returns: GPS tow in ms

Definition at line 365 of file gps.c.

References gps_time_sync, msec_of_sys_time_ticks(), MSEC_PER_WEEK, GpsTimeSync::t0_ticks, and GpsTimeSync::t0_tow.

Referenced by acInfoSetPositionEnu_f(), acInfoSetPositionEnu_i(), acInfoSetPositionLla_f(), acInfoSetPositionLla_i(), acInfoSetPositionUtm_f(), acInfoSetPositionUtm_i(), acInfoSetVelocityEnu_f(), acInfoSetVelocityEnu_i(), parse_acinfo_dl(), target_parse_target_pos(), and windturbine_periodic().

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◆ gps_week_number()

uint16_t gps_week_number	(	uint16_t	year,
		uint8_t	month,
		uint8_t	day
	)

Number of weeks since navigation epoch (6 January 1980)

Parameters

[in]	year	current year
[in]	month	current month
[in]	day	current day

Returns: number of weeks since navigation epoch

Definition at line 621 of file gps.c.

References gps_day_number().

Referenced by gps_ubx_parse_nav_pvt().

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◆ lla_float_from_gps()

struct LlaCoor_f lla_float_from_gps ( struct GpsState * gps_s )

Get GPS lla (float) Converted on the fly if not available.

Parameters

[in] gps_s pointer to the gps structure

Returns: lla position in float (rad), altitude ellipsoid (m)

Definition at line 409 of file gps.c.

◆ lla_int_from_gps()

struct LlaCoor_i lla_int_from_gps ( struct GpsState * gps_s )

Get GPS lla (integer) Converted on the fly if not available.

Parameters

[in] gps_s pointer to the gps structure

Returns: lla position (lat,lon: deg*1e7; alt: mm over ellipsoid)

Definition at line 409 of file gps.c.

Referenced by gps_cb(), ins_reset_altitude_ref(), and ins_reset_local_origin().

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◆ ned_vel_float_from_gps()

struct NedCoor_f ned_vel_float_from_gps ( struct GpsState * gps_s )

Get GPS ned velocity (float) Converted on the fly if not available.

Parameters

[in] gps_s pointer to the gps structure

Returns: ned velocity in float (m/s)

Definition at line 409 of file gps.c.

Referenced by gps_cb(), ins_alt_float_update_gps(), and ins_float_invariant_update_gps().

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◆ ned_vel_int_from_gps()

struct NedCoor_i ned_vel_int_from_gps ( struct GpsState * gps_s )

Get GPS ned velocity (integer) Converted on the fly if not available.

Parameters

[in] gps_s pointer to the gps structure

Returns: ned velocity in cm/s

Definition at line 409 of file gps.c.

◆ utm_float_from_gps()

struct UtmCoor_f utm_float_from_gps	(	struct GpsState *	gps_s,
		uint8_t	zone
	)

Convenience function to get utm position in float from GPS structure.

Beware that altitude is initialized to zero but not set to the correct value

Parameters

[in]	gps_s	pointer to the gps structure
[in]	zone	set the utm zone in which the position should be computed, 0 to try to get it automatically from lla position

Returns: utm position in float, altitude hmsl.

Convenience function to get utm position in float from GPS structure.

Definition at line 409 of file gps.c.

Referenced by gps_cb(), ins_alt_float_update_gps(), ins_float_invariant_update_gps(), and ins_reset_local_origin().

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◆ utm_int_from_gps()

struct UtmCoor_i utm_int_from_gps	(	struct GpsState *	gps_s,
		uint8_t	zone
	)

Convenience function to get utm position in int from GPS structure.

Beware that altitude is initialized to zero but not set to the correct value

Parameters

[in]	gps_s	pointer to the gps structure
[in]	zone	set the utm zone in which the position should be computed, 0 to try to get it automatically from lla position

Returns: utm position in fixed point (cm), altitude hmsl (mm).

Definition at line 409 of file gps.c.

Referenced by send_gps().

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Variable Documentation

◆ gps

struct GpsState gps

extern

global GPS state

Definition at line 1 of file gps.c.

Referenced by airspeed_ets_read_event(), alt_filter_periodic(), apogee_baro_event(), ArduIMU_periodicGPS(), autopilot_failsafe_checks(), baro_sim_periodic(), calculate_new_heading(), cloud_sensor_callback(), dc_send_shot_position(), draw_osd(), error_output(), formation_flight(), generic_com_periodic(), geo_mag_event(), get_fix_mode(), gps_cb(), gps_fix_valid(), gps_init(), gps_periodic_check(), gps_sim_init(), gps_sim_publish(), gps_time_since_last_3dfix(), gps_vectornav_init(), gsm_send_report_continue(), hff_update_gps(), home_direction(), humid_sht_periodic(), ins_reset_altitude_ref(), ins_reset_local_origin(), ins_reset_utm_zone(), ins_vectornav_monitor(), ins_vectornav_propagate(), ins_vectornav_set_pacc(), ins_vectornav_set_sacc(), mavlink_send_gps_raw_int(), mavlink_send_gps_status(), meteo_stick_send_data(), mf_daq_send_report(), mf_ptu_periodic(), nps_sensor_gps_init(), nps_sensor_gps_run_step(), parse_xsens_msg(), potential_task(), push_gps_to_vision(), put_alt(), send_cloud_sensor_data(), send_fp_min(), send_gps(), send_gps_int(), send_gps_lla(), send_gps_sol(), send_minimal_com(), send_status(), send_svinfo(), send_svinfo_available(), send_svinfo_id(), snav_on_time(), tcas_periodic_task_1Hz(), temod_event(), thd_startlog(), and update_geoid_height().

◆ gps_relposned

struct GpsRelposNED gps_relposned

extern

Definition at line 1 of file gps.c.

Referenced by gps_cb(), gps_init(), gps_ubx_parse_nav_relposned(), and send_gps_rtk().

◆ gps_time_sync

struct GpsTimeSync gps_time_sync

extern

Definition at line 1 of file gps.c.

Referenced by gps_cb(), and gps_tow_from_sys_ticks().

◆ multi_gps_mode

uint8_t multi_gps_mode

extern

Definition at line 77 of file gps.c.

Referenced by gps_init().

Data Structures

Macros

Functions

Variables

Detailed Description

Data Structure Documentation

◆ SVinfo

◆ GpsState

◆ GpsTimeSync

◆ GpsRelposNED

Macro Definition Documentation

◆ __GpsId

◆ _GpsId

◆ GPS_FIX_2D

◆ GPS_FIX_3D

◆ GPS_FIX_DGPS

◆ GPS_FIX_NONE

◆ GPS_FIX_RTK

◆ GPS_MODE_AUTO

◆ GPS_MODE_PRIMARY

◆ GPS_MODE_SECONDARY

◆ GPS_NB_CHANNELS

◆ GPS_TIMEOUT

◆ GPS_VALID_COURSE_BIT

◆ GPS_VALID_HMSL_BIT

◆ GPS_VALID_POS_ECEF_BIT

◆ GPS_VALID_POS_LLA_BIT

◆ GPS_VALID_POS_UTM_BIT

◆ GPS_VALID_VEL_ECEF_BIT

◆ GPS_VALID_VEL_NED_BIT

◆ GpsFixValid

◆ GpsId

◆ GpsIsLost

◆ MULTI_GPS_MODE

Function Documentation

◆ ecef_float_from_gps()

◆ ecef_int_from_gps()

◆ ecef_vel_float_from_gps()

◆ ecef_vel_int_from_gps()

◆ gps_day_number()

◆ gps_fix_valid()

◆ gps_has_been_good()

◆ gps_init()

◆ gps_inject_data()

◆ gps_parse_GPS_INJECT()

◆ gps_parse_RTCM_INJECT()

◆ gps_periodic_check()

◆ gps_time_since_last_3dfix()

◆ gps_tow_from_sys_ticks()

◆ gps_week_number()

◆ lla_float_from_gps()

◆ lla_int_from_gps()

◆ ned_vel_float_from_gps()

◆ ned_vel_int_from_gps()

◆ utm_float_from_gps()

◆ utm_int_from_gps()

Variable Documentation

◆ gps

◆ gps_relposned

◆ gps_time_sync

◆ multi_gps_mode