Device independent GPS code. More...

#include "subsystems/abi.h"
#include "subsystems/gps.h"
#include "led.h"
#include "subsystems/settings.h"
#include "generated/settings.h"
#include "math/pprz_geodetic_wgs84.h"
#include "math/pprz_geodetic.h"
#include "subsystems/datalink/telemetry.h"
#include "state.h"

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Macros
#define	MSEC_PER_WEEK (10006060247)

#define	TIME_TO_SWITCH 5000

Functions
static void	send_svinfo_id (struct transport_tx trans, struct link_device dev, uint8_t svid)

static void	send_svinfo (struct transport_tx trans, struct link_device dev)
	send SVINFO message (regardless of state) More...

static void	send_svinfo_available (struct transport_tx trans, struct link_device dev)
	send SVINFO message if updated. More...

static void	send_gps (struct transport_tx trans, struct link_device dev)

static void	send_gps_rtk (struct transport_tx trans, struct link_device dev)

static void	send_gps_rxmrtcm (struct transport_tx trans, struct link_device dev)

static void	send_gps_int (struct transport_tx trans, struct link_device dev)

static void	send_gps_lla (struct transport_tx trans, struct link_device dev)

static void	send_gps_sol (struct transport_tx trans, struct link_device dev)

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

static void	gps_cb (uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s)

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

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

void WEAK	gps_inject_data (uint8_t packet_id, uint8_t length, uint8_t *data)
	Default parser for GPS injected data. More...

struct UtmCoor_f	utm_float_from_gps (struct GpsState *gps_s, uint8_t zone)
	Convenience functions to get utm position from GPS state. 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
struct GpsState	gps
	global GPS state More...

struct GpsTimeSync	gps_time_sync

struct GpsRelposNED	gps_relposned

struct RtcmMan	rtcm_man

uint8_t	multi_gps_mode

static abi_event	gps_ev

static const uint16_t	month_days [2][13]
	GPS week number roll-over workaround application note. More...

Detailed Description

Device independent GPS code.

This provides some general GPS functions and handles the selection of the currently active GPS (if multiple ones are used).

Each GPS implementation sends a GPS message via ABI for each new measurement, which can be received by any other part (either from all or only one specific GPS).

To make it easy to switch to the currently best (or simply the preferred) GPS at runtime, the multi_gps_mode can be set to GPS_MODE_PRIMARY, GPS_MODE_SECONDARY or GPS_MODE_AUTO. This re-sends the GPS message of the "selected" GPS with GPS_MULTI_ID as sender id. In the (default) GPS_MODE_AUTO mode, the GPS with the best fix is selected.

The global gps struct is also updated from the "selected" GPS and used to send the normal GPS telemetry messages.

Definition in file gps.c.

Macro Definition Documentation

#define MSEC_PER_WEEK (1000*60*60*24*7)

Definition at line 66 of file gps.c.

Referenced by gps_tow_from_sys_ticks().

#define TIME_TO_SWITCH 5000

Definition at line 67 of file gps.c.

Function Documentation

static void gps_cb	(	uint8_t	sender_id,
		uint32_t	stamp,
		struct GpsState *	gps_s
	)

static

Definition at line 282 of file gps.c.

References GpsState::comp_id, get_sys_time_usec(), gps, GPS_MULTI_ID, gps_time_sync, sys_time::nb_tick, GpsTimeSync::t0_ticks, GpsTimeSync::t0_tow, and GpsState::tow.

Referenced by gps_init().

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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 452 of file gps.c.

Referenced by gps_week_number().

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void gps_init ( void )

initialize the global GPS state

Definition at line 308 of file gps.c.

References ABI_BROADCAST, GpsState::cacc, RtcmMan::Cnt105, RtcmMan::Cnt177, RtcmMan::Cnt187, RtcmMan::Crc105, RtcmMan::Crc177, RtcmMan::Crc187, DefaultPeriodic, GpsState::fix, gpio_setup_output(), gps, gps_cb(), GPS_FIX_NONE, GPS_POWER_GPIO, GpsState::hacc, GpsState::last_3dfix_ticks, GpsState::last_3dfix_time, GpsState::last_msg_ticks, GpsState::last_msg_time, LED_OFF, MULTI_GPS_MODE, register_periodic_telemetry(), rtcm_man, send_gps(), send_gps_int(), send_gps_lla(), send_gps_rtk(), send_gps_rxmrtcm(), send_gps_sol(), send_svinfo(), GpsState::tow, GpsState::vacc, GpsState::valid_fields, and GpsState::week.

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

Default parser for GPS injected data.

GPS packet injection (default empty)

Definition at line 380 of file gps.c.

References gps_piksi_write(), and sbp_state.

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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 264 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 intermcu_periodic().

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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 355 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(), trigger_ext_periodic(), and windturbine_periodic().

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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 462 of file gps.c.

References gps_day_number().

Referenced by gps_ubx_parse_nav_pvt().

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static void send_gps	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 124 of file gps.c.

References course, GpsState::course, dev, UtmCoor_i::east, GpsState::fix, gps, GpsState::gspeed, GpsState::hmsl, GpsState::ned_vel, UtmCoor_i::north, send_svinfo_available(), GpsState::tow, utm_int_from_gps(), GpsState::week, NedCoor_i::z, and UtmCoor_i::zone.

Referenced by gps_init().

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static void send_gps_int	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 175 of file gps.c.

References LlaCoor_i::alt, GpsState::comp_id, dev, GpsState::ecef_pos, GpsState::ecef_vel, GpsState::fix, gps, GpsState::hmsl, LlaCoor_i::lat, GpsState::lla_pos, LlaCoor_i::lon, GpsState::num_sv, GpsState::pacc, GpsState::pdop, GpsState::sacc, send_svinfo_available(), GpsState::tow, EcefCoor_i::x, EcefCoor_i::y, and EcefCoor_i::z.

Referenced by gps_init().

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static void send_gps_lla	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 203 of file gps.c.

References LlaCoor_i::alt, course, GpsState::course, dev, GpsState::fix, gps, GpsState::gspeed, GpsState::hmsl, LlaCoor_i::lat, GpsState::lla_pos, LlaCoor_i::lon, GpsState::ned_vel, GpsState::tow, GpsState::week, and NedCoor_i::z.

Referenced by gps_init().

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static void send_gps_rtk	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 150 of file gps.c.

References GpsRelposNED::accD, GpsRelposNED::accE, GpsRelposNED::accN, GpsRelposNED::carrSoln, GpsRelposNED::diffSoln, GpsRelposNED::gnssFixOK, gps_relposned, GpsRelposNED::iTOW, GpsRelposNED::refStationId, GpsRelposNED::relPosD, GpsRelposNED::relPosE, GpsRelposNED::relPosHPD, GpsRelposNED::relPosHPE, GpsRelposNED::relPosHPN, GpsRelposNED::relPosN, and GpsRelposNED::relPosValid.

Referenced by gps_init().

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static void send_gps_rxmrtcm	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 164 of file gps.c.

References RtcmMan::Cnt105, RtcmMan::Cnt177, RtcmMan::Cnt187, RtcmMan::Crc105, RtcmMan::Crc177, RtcmMan::Crc187, and rtcm_man.

Referenced by gps_init().

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static void send_gps_sol	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 226 of file gps.c.

References gps, GpsState::num_sv, GpsState::pacc, GpsState::pdop, and GpsState::sacc.

Referenced by gps_init().

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static void send_svinfo	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

send SVINFO message (regardless of state)

Definition at line 96 of file gps.c.

References gps, GpsState::nb_channels, and send_svinfo_id().

Referenced by gps_init().

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static void send_svinfo_available	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

inlinestatic

send SVINFO message if updated.

send SVINFO for all satellites while no GPS fix, after 3D fix, send avialable sats only when there is new information

Definition at line 108 of file gps.c.

References SVinfo::cno, GpsState::fix, gps, GPS_FIX_3D, GPS_NB_CHANNELS, GpsState::nb_channels, send_svinfo_id(), and GpsState::svinfos.

Referenced by send_gps(), and send_gps_int().

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static void send_svinfo_id	(	struct transport_tx *	trans,
		struct link_device *	dev,
		uint8_t	svid
	)

static

Definition at line 84 of file gps.c.

References SVinfo::azim, SVinfo::cno, SVinfo::elev, SVinfo::flags, gps, GPS_NB_CHANNELS, SVinfo::qi, SVinfo::svid, and GpsState::svinfos.

Referenced by send_svinfo(), and send_svinfo_available().

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

Convenience functions to get utm position from GPS state.

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

Definition at line 390 of file gps.c.

References UtmCoor_f::alt, UtmCoor_f::east, GPS_VALID_HMSL_BIT, GPS_VALID_POS_LLA_BIT, GPS_VALID_POS_UTM_BIT, UTM_FLOAT_OF_BFP, utm_of_lla_i(), wgs84_ellipsoid_to_geoid_i(), UtmCoor_f::zone, and UtmCoor_i::zone.

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

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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 415 of file gps.c.

References UtmCoor_i::alt, UtmCoor_i::east, GPS_VALID_HMSL_BIT, GPS_VALID_POS_LLA_BIT, GPS_VALID_POS_UTM_BIT, UTM_COPY, utm_of_lla_i(), wgs84_ellipsoid_to_geoid_i(), and UtmCoor_i::zone.

Referenced by send_gps().

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Variable Documentation

struct GpsState gps

global GPS state

Definition at line 69 of file gps.c.

Referenced by airspeed_ets_read_event(), alt_filter_periodic(), apogee_baro_event(), ArduIMU_periodicGPS(), baro_sim_periodic(), dc_send_shot_position(), e_identification_fr_periodic(), error_output(), formation_flight(), generic_com_periodic(), geo_mag_event(), get_fix_mode(), gps_cb(), gps_init(), gps_periodic_check(), gps_sim_hitl_event(), gps_sim_hitl_init(), gps_sim_init(), gps_sim_publish(), gps_vectornav_init(), gsm_send_report_continue(), gx3_packet_read_message(), hff_update_gps(), 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_periodic(), mf_daq_send_report(), mf_ptu_periodic(), parse_xsens_msg(), potential_task(), push_gps_to_vision(), put_alt(), send_fp_min(), send_gps(), send_gps_int(), send_gps_lla(), send_gps_sol(), send_status(), send_svinfo(), send_svinfo_available(), send_svinfo_id(), sim_use_gps_pos(), snav_on_time(), tcas_periodic_task_1Hz(), temod_event(), thd_startlog(), and update_geoid_height().

abi_event gps_ev

static

Definition at line 281 of file gps.c.

struct GpsRelposNED gps_relposned

Definition at line 71 of file gps.c.

Referenced by gps_ubx_parse_nav_relposned(), and send_gps_rtk().

struct GpsTimeSync gps_time_sync

Definition at line 70 of file gps.c.

Referenced by gps_cb(), and gps_tow_from_sys_ticks().

const uint16_t month_days[2][13]

static

Initial value:

= {
  { 0, 31, 59, 90, 120, 151, 181, 212, 243, 273, 304, 334, 365 },
  { 0, 31, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335, 366 }
}

GPS week number roll-over workaround application note.

Definition at line 444 of file gps.c.

uint8_t multi_gps_mode

Definition at line 78 of file gps.c.

struct RtcmMan rtcm_man

Definition at line 72 of file gps.c.

Referenced by gps_init(), gps_ubx_parse_rxm_rtcm(), and send_gps_rxmrtcm().

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

Function Documentation

Variable Documentation