bool
AP_GPS_UBLOX::_parse_gps(void)
{
if (_class == CLASS_ACK) {
Debug("ACK %u", (unsigned)_msg_id);
return false;
}
if (_class == CLASS_CFG && _msg_id == MSG_CFG_NAV_SETTINGS) {
Debug("Got settings %u min_elev %d drLimit %u\n",
(unsigned)_buffer.nav_settings.dynModel,
(int)_buffer.nav_settings.minElev,
(unsigned)_buffer.nav_settings.drLimit);
_buffer.nav_settings.mask = 0;
if (gps._navfilter != AP_GPS::GPS_ENGINE_NONE &&
_buffer.nav_settings.dynModel != gps._navfilter) {
// we've received the current nav settings, change the engine
// settings and send them back
Debug("Changing engine setting from %u to %u\n",
(unsigned)_buffer.nav_settings.dynModel, (unsigned)gps._navfilter);
_buffer.nav_settings.dynModel = gps._navfilter;
_buffer.nav_settings.mask |= 1;
}
if (gps._min_elevation != -100 &&
_buffer.nav_settings.minElev != gps._min_elevation) {
Debug("Changing min elevation to %d\n", (int)gps._min_elevation);
_buffer.nav_settings.minElev = gps._min_elevation;
_buffer.nav_settings.mask |= 2;
}
if (_buffer.nav_settings.mask != 0) {
_send_message(CLASS_CFG, MSG_CFG_NAV_SETTINGS,
&_buffer.nav_settings,
sizeof(_buffer.nav_settings));
}
return false;
}
#if UBLOX_GNSS_SETTINGS
if (_class == CLASS_CFG && _msg_id == MSG_CFG_GNSS && gps._gnss_mode != 0) {
uint8_t gnssCount = 0;
Debug("Got GNSS Settings %u %u %u %u:\n",
(unsigned)_buffer.gnss.msgVer,
(unsigned)_buffer.gnss.numTrkChHw,
(unsigned)_buffer.gnss.numTrkChUse,
(unsigned)_buffer.gnss.numConfigBlocks);
#if UBLOX_DEBUG
for(int i = 0; i < _buffer.gnss.numConfigBlocks; i++) {
Debug(" %u %u %u 0x%08x\n",
(unsigned)_buffer.gnss.configBlock[i].gnssId,
(unsigned)_buffer.gnss.configBlock[i].resTrkCh,
(unsigned)_buffer.gnss.configBlock[i].maxTrkCh,
(unsigned)_buffer.gnss.configBlock[i].flags);
}
#endif
for(int i = 0; i < UBLOX_MAX_GNSS_CONFIG_BLOCKS; i++) {
if((gps._gnss_mode & (1 << i)) && i != GNSS_SBAS) {
gnssCount++;
}
}
for(int i = 0; i < _buffer.gnss.numConfigBlocks; i++) {
// Reserve an equal portion of channels for all enabled systems
if(gps._gnss_mode & (1 << _buffer.gnss.configBlock[i].gnssId)) {
if(GNSS_SBAS !=_buffer.gnss.configBlock[i].gnssId) {
_buffer.gnss.configBlock[i].resTrkCh = (_buffer.gnss.numTrkChHw - 3) / (gnssCount * 2);
_buffer.gnss.configBlock[i].maxTrkCh = _buffer.gnss.numTrkChHw;
} else {
_buffer.gnss.configBlock[i].resTrkCh = 1;
_buffer.gnss.configBlock[i].maxTrkCh = 3;
}
_buffer.gnss.configBlock[i].flags = _buffer.gnss.configBlock[i].flags | 0x00000001;
} else {
_buffer.gnss.configBlock[i].resTrkCh = 0;
_buffer.gnss.configBlock[i].maxTrkCh = 0;
_buffer.gnss.configBlock[i].flags = _buffer.gnss.configBlock[i].flags & 0xFFFFFFFE;
}
}
_send_message(CLASS_CFG, MSG_CFG_GNSS, &_buffer.gnss, 4 + (8 * _buffer.gnss.numConfigBlocks));
return false;
}
#endif
if (_class == CLASS_CFG && _msg_id == MSG_CFG_SBAS && gps._sbas_mode != 2) {
Debug("Got SBAS settings %u %u %u 0x%x 0x%x\n",
(unsigned)_buffer.sbas.mode,
(unsigned)_buffer.sbas.usage,
(unsigned)_buffer.sbas.maxSBAS,
(unsigned)_buffer.sbas.scanmode2,
(unsigned)_buffer.sbas.scanmode1);
if (_buffer.sbas.mode != gps._sbas_mode) {
_buffer.sbas.mode = gps._sbas_mode;
_send_message(CLASS_CFG, MSG_CFG_SBAS,
&_buffer.sbas,
sizeof(_buffer.sbas));
}
}
#if UBLOX_HW_LOGGING
if (_class == CLASS_MON) {
if (_msg_id == MSG_MON_HW) {
if (_payload_length == 60 || _payload_length == 68) {
log_mon_hw();
}
} else if (_msg_id == MSG_MON_HW2) {
if (_payload_length == 28) {
log_mon_hw2();
}
} else {
unexpected_message();
}
return false;
}
#endif // UBLOX_HW_LOGGING
#if UBLOX_RXM_RAW_LOGGING
if (_class == CLASS_RXM && _msg_id == MSG_RXM_RAW && gps._raw_data != 0) {
log_rxm_raw(_buffer.rxm_raw);
return false;
} else if (_class == CLASS_RXM && _msg_id == MSG_RXM_RAWX && gps._raw_data != 0) {
log_rxm_rawx(_buffer.rxm_rawx);
return false;
}
#endif // UBLOX_RXM_RAW_LOGGING
if (_class != CLASS_NAV) {
unexpected_message();
return false;
}
switch (_msg_id) {
case MSG_POSLLH:
Debug("MSG_POSLLH next_fix=%u", next_fix);
_last_pos_time = _buffer.posllh.time;
state.location.lng = _buffer.posllh.longitude;
state.location.lat = _buffer.posllh.latitude;
state.location.alt = _buffer.posllh.altitude_msl / 10;
state.status = next_fix;
_new_position = true;
#if UBLOX_FAKE_3DLOCK
state.location.lng = 1491652300L;
state.location.lat = -353632610L;
state.location.alt = 58400;
#endif
state.horizontal_accuracy = _buffer.posllh.horizontal_accuracy*1.0e-3f;
state.vertical_accuracy = _buffer.posllh.vertical_accuracy*1.0e-3f;
state.have_horizontal_accuracy = true;
state.have_vertical_accuracy = true;
break;
case MSG_STATUS:
Debug("MSG_STATUS fix_status=%u fix_type=%u",
_buffer.status.fix_status,
_buffer.status.fix_type);
if (_buffer.status.fix_status & NAV_STATUS_FIX_VALID) {
if( (_buffer.status.fix_type == AP_GPS_UBLOX::FIX_3D) &&
(_buffer.status.fix_status & AP_GPS_UBLOX::NAV_STATUS_DGPS_USED)) {
next_fix = AP_GPS::GPS_OK_FIX_3D_DGPS;
}else if( _buffer.status.fix_type == AP_GPS_UBLOX::FIX_3D) {
next_fix = AP_GPS::GPS_OK_FIX_3D;
}else if (_buffer.status.fix_type == AP_GPS_UBLOX::FIX_2D) {
next_fix = AP_GPS::GPS_OK_FIX_2D;
}else{
next_fix = AP_GPS::NO_FIX;
state.status = AP_GPS::NO_FIX;
}
}else{
next_fix = AP_GPS::NO_FIX;
state.status = AP_GPS::NO_FIX;
}
#if UBLOX_FAKE_3DLOCK
state.status = AP_GPS::GPS_OK_FIX_3D;
next_fix = state.status;
#endif
break;
case MSG_DOP:
Debug("MSG_DOP");
noReceivedHdop = false;
state.hdop = _buffer.dop.hDOP;
#if UBLOX_FAKE_3DLOCK
state.hdop = 130;
#endif
break;
case MSG_SOL:
Debug("MSG_SOL fix_status=%u fix_type=%u",
_buffer.solution.fix_status,
_buffer.solution.fix_type);
if (_buffer.solution.fix_status & NAV_STATUS_FIX_VALID) {
if( (_buffer.solution.fix_type == AP_GPS_UBLOX::FIX_3D) &&
(_buffer.solution.fix_status & AP_GPS_UBLOX::NAV_STATUS_DGPS_USED)) {
next_fix = AP_GPS::GPS_OK_FIX_3D_DGPS;
}else if( _buffer.solution.fix_type == AP_GPS_UBLOX::FIX_3D) {
next_fix = AP_GPS::GPS_OK_FIX_3D;
}else if (_buffer.solution.fix_type == AP_GPS_UBLOX::FIX_2D) {
next_fix = AP_GPS::GPS_OK_FIX_2D;
}else{
next_fix = AP_GPS::NO_FIX;
state.status = AP_GPS::NO_FIX;
}
}else{
next_fix = AP_GPS::NO_FIX;
state.status = AP_GPS::NO_FIX;
}
if(noReceivedHdop) {
state.hdop = _buffer.solution.position_DOP;
}
state.num_sats = _buffer.solution.satellites;
if (next_fix >= AP_GPS::GPS_OK_FIX_2D) {
state.last_gps_time_ms = hal.scheduler->millis();
if (state.time_week == _buffer.solution.week &&
state.time_week_ms + 200 == _buffer.solution.time) {
// we got a 5Hz update. This relies on the way
// that uBlox gives timestamps that are always
// multiples of 200 for 5Hz
_last_5hz_time = state.last_gps_time_ms;
}
state.time_week_ms = _buffer.solution.time;
state.time_week = _buffer.solution.week;
}
#if UBLOX_FAKE_3DLOCK
next_fix = state.status;
state.num_sats = 10;
state.time_week = 1721;
state.time_week_ms = hal.scheduler->millis() + 3*60*60*1000 + 37000;
state.last_gps_time_ms = hal.scheduler->millis();
#endif
break;
case MSG_VELNED:
Debug("MSG_VELNED");
_last_vel_time = _buffer.velned.time;
state.ground_speed = _buffer.velned.speed_2d*0.01f; // m/s
state.ground_course_cd = _buffer.velned.heading_2d / 1000; // Heading 2D deg * 100000 rescaled to deg * 100
state.have_vertical_velocity = true;
state.velocity.x = _buffer.velned.ned_north * 0.01f;
state.velocity.y = _buffer.velned.ned_east * 0.01f;
state.velocity.z = _buffer.velned.ned_down * 0.01f;
state.have_speed_accuracy = true;
state.speed_accuracy = _buffer.velned.speed_accuracy*0.01f;
_new_speed = true;
break;
#if UBLOX_VERSION_AUTODETECTION
case MSG_NAV_SVINFO:
{
Debug("MSG_NAV_SVINFO\n");
static const uint8_t HardwareGenerationMask = 0x07;
uint8_t hardware_generation = _buffer.svinfo_header.globalFlags & HardwareGenerationMask;
switch (hardware_generation) {
case UBLOX_5:
case UBLOX_6:
/*speed already configured */;
break;
case UBLOX_7:
case UBLOX_M8:
port->begin(4000000U);
Debug("Changed speed to 5Mhzfor SPI-driven UBlox\n");
break;
default:
hal.console->printf("Wrong Ublox' Hardware Version%u\n", hardware_generation);
break;
};
/* We don't need that anymore */
_configure_message_rate(CLASS_NAV, MSG_NAV_SVINFO, 0);
break;
}
#endif
default:
Debug("Unexpected NAV message 0x%02x", (unsigned)_msg_id);
if (++_disable_counter == 0) {
Debug("Disabling NAV message 0x%02x", (unsigned)_msg_id);
_configure_message_rate(CLASS_NAV, _msg_id, 0);
}
return false;
}
// we only return true when we get new position and speed data
// this ensures we don't use stale data
if (_new_position && _new_speed && _last_vel_time == _last_pos_time) {
_new_speed = _new_position = false;
_fix_count++;
if ((hal.scheduler->millis() - _last_5hz_time) > 15000U && !need_rate_update) {
// the GPS is running slow. It possibly browned out and
// restarted with incorrect parameters. We will slowly
// send out new parameters to fix it
need_rate_update = true;
rate_update_step = 0;
_last_5hz_time = hal.scheduler->millis();
}
if (_fix_count == 50 && gps._sbas_mode != 2) {
// ask for SBAS settings every 20 seconds
Debug("Asking for SBAS setting\n");
_send_message(CLASS_CFG, MSG_CFG_SBAS, NULL, 0);
}
if (_fix_count == 100) {
// ask for nav settings every 20 seconds
Debug("Asking for engine setting\n");
_send_message(CLASS_CFG, MSG_CFG_NAV_SETTINGS, NULL, 0);
_fix_count = 0;
}
#if UBLOX_HW_LOGGING
log_accuracy();
#endif //UBLOX_HW_LOGGING
return true;
}
return false;
}
bool
AP_GPS_UBLOX::_parse_gps(void)
{
if (_class == CLASS_ACK) {
Debug("ACK %u", (unsigned)_msg_id);
return false;
}
if (_class == CLASS_CFG && _msg_id == MSG_CFG_NAV_SETTINGS) {
Debug("Got settings %u min_elev %d drLimit %u\n",
(unsigned)_buffer.nav_settings.dynModel,
(int)_buffer.nav_settings.minElev,
(unsigned)_buffer.nav_settings.drLimit);
_buffer.nav_settings.mask = 0;
if (gps._navfilter != AP_GPS::GPS_ENGINE_NONE &&
_buffer.nav_settings.dynModel != gps._navfilter) {
// we've received the current nav settings, change the engine
// settings and send them back
Debug("Changing engine setting from %u to %u\n",
(unsigned)_buffer.nav_settings.dynModel, (unsigned)gps._navfilter);
_buffer.nav_settings.dynModel = gps._navfilter;
_buffer.nav_settings.mask |= 1;
}
if (gps._min_elevation != -100 &&
_buffer.nav_settings.minElev != gps._min_elevation) {
Debug("Changing min elevation to %d\n", (int)gps._min_elevation);
_buffer.nav_settings.minElev = gps._min_elevation;
_buffer.nav_settings.mask |= 2;
}
if (_buffer.nav_settings.mask != 0) {
_send_message(CLASS_CFG, MSG_CFG_NAV_SETTINGS,
&_buffer.nav_settings,
sizeof(_buffer.nav_settings));
}
return false;
}
if (_class == CLASS_CFG && _msg_id == MSG_CFG_SBAS && gps._sbas_mode != 2) {
Debug("Got SBAS settings %u %u %u 0x%x 0x%x\n",
(unsigned)_buffer.sbas.mode,
(unsigned)_buffer.sbas.usage,
(unsigned)_buffer.sbas.maxSBAS,
(unsigned)_buffer.sbas.scanmode2,
(unsigned)_buffer.sbas.scanmode1);
if (_buffer.sbas.mode != gps._sbas_mode) {
_buffer.sbas.mode = gps._sbas_mode;
_send_message(CLASS_CFG, MSG_CFG_SBAS,
&_buffer.sbas,
sizeof(_buffer.sbas));
}
}
#if UBLOX_HW_LOGGING
if (_class == CLASS_MON) {
if (_msg_id == MSG_MON_HW) {
if (_payload_length == 60 || _payload_length == 68) {
log_mon_hw();
}
} else if (_msg_id == MSG_MON_HW2) {
if (_payload_length == 28) {
log_mon_hw2();
}
} else {
unexpected_message();
}
return false;
}
#endif // UBLOX_HW_LOGGING
if (_class != CLASS_NAV) {
unexpected_message();
return false;
}
switch (_msg_id) {
case MSG_POSLLH:
Debug("MSG_POSLLH next_fix=%u", next_fix);
_last_pos_time = _buffer.posllh.time;
state.location.lng = _buffer.posllh.longitude;
state.location.lat = _buffer.posllh.latitude;
state.location.alt = _buffer.posllh.altitude_msl / 10;
state.status = next_fix;
_new_position = true;
#if UBLOX_FAKE_3DLOCK
state.location.lng = 1491652300L;
state.location.lat = -353632610L;
state.location.alt = 58400;
#endif
break;
case MSG_STATUS:
Debug("MSG_STATUS fix_status=%u fix_type=%u",
_buffer.status.fix_status,
_buffer.status.fix_type);
if (_buffer.status.fix_status & NAV_STATUS_FIX_VALID) {
if( _buffer.status.fix_type == AP_GPS_UBLOX::FIX_3D) {
next_fix = AP_GPS::GPS_OK_FIX_3D;
}else if (_buffer.status.fix_type == AP_GPS_UBLOX::FIX_2D) {
next_fix = AP_GPS::GPS_OK_FIX_2D;
}else{
next_fix = AP_GPS::NO_FIX;
state.status = AP_GPS::NO_FIX;
}
}else{
next_fix = AP_GPS::NO_FIX;
state.status = AP_GPS::NO_FIX;
}
#if UBLOX_FAKE_3DLOCK
state.status = AP_GPS::GPS_OK_FIX_3D;
next_fix = state.status;
#endif
break;
case MSG_SOL:
Debug("MSG_SOL fix_status=%u fix_type=%u",
_buffer.solution.fix_status,
_buffer.solution.fix_type);
if (_buffer.solution.fix_status & NAV_STATUS_FIX_VALID) {
if( _buffer.solution.fix_type == AP_GPS_UBLOX::FIX_3D) {
next_fix = AP_GPS::GPS_OK_FIX_3D;
}else if (_buffer.solution.fix_type == AP_GPS_UBLOX::FIX_2D) {
next_fix = AP_GPS::GPS_OK_FIX_2D;
}else{
next_fix = AP_GPS::NO_FIX;
state.status = AP_GPS::NO_FIX;
}
}else{
next_fix = AP_GPS::NO_FIX;
state.status = AP_GPS::NO_FIX;
}
state.num_sats = _buffer.solution.satellites;
state.hdop = _buffer.solution.position_DOP;
if (next_fix >= AP_GPS::GPS_OK_FIX_2D) {
state.last_gps_time_ms = hal.scheduler->millis();
if (state.time_week == _buffer.solution.week &&
state.time_week_ms + 200 == _buffer.solution.time) {
// we got a 5Hz update. This relies on the way
// that uBlox gives timestamps that are always
// multiples of 200 for 5Hz
_last_5hz_time = state.last_gps_time_ms;
}
state.time_week_ms = _buffer.solution.time;
state.time_week = _buffer.solution.week;
}
#if UBLOX_FAKE_3DLOCK
next_fix = state.status;
state.num_sats = 10;
state.hdop = 200;
state.time_week = 1721;
state.time_week_ms = hal.scheduler->millis() + 3*60*60*1000 + 37000;
state.last_gps_time_ms = hal.scheduler->millis();
#endif
break;
case MSG_VELNED:
Debug("MSG_VELNED");
_last_vel_time = _buffer.velned.time;
state.ground_speed = _buffer.velned.speed_2d*0.01f; // m/s
state.ground_course_cd = _buffer.velned.heading_2d / 1000; // Heading 2D deg * 100000 rescaled to deg * 100
state.have_vertical_velocity = true;
state.velocity.x = _buffer.velned.ned_north * 0.01f;
state.velocity.y = _buffer.velned.ned_east * 0.01f;
state.velocity.z = _buffer.velned.ned_down * 0.01f;
_new_speed = true;
break;
default:
Debug("Unexpected NAV message 0x%02x", (unsigned)_msg_id);
if (++_disable_counter == 0) {
Debug("Disabling NAV message 0x%02x", (unsigned)_msg_id);
_configure_message_rate(CLASS_NAV, _msg_id, 0);
}
return false;
}
// we only return true when we get new position and speed data
// this ensures we don't use stale data
if (_new_position && _new_speed && _last_vel_time == _last_pos_time) {
_new_speed = _new_position = false;
_fix_count++;
if ((hal.scheduler->millis() - _last_5hz_time) > 15000U && !need_rate_update) {
// the GPS is running slow. It possibly browned out and
// restarted with incorrect parameters. We will slowly
// send out new parameters to fix it
need_rate_update = true;
rate_update_step = 0;
_last_5hz_time = hal.scheduler->millis();
}
if (_fix_count == 50 && gps._sbas_mode != 2) {
// ask for SBAS settings every 20 seconds
Debug("Asking for SBAS setting\n");
_send_message(CLASS_CFG, MSG_CFG_SBAS, NULL, 0);
}
if (_fix_count == 100) {
// ask for nav settings every 20 seconds
Debug("Asking for engine setting\n");
_send_message(CLASS_CFG, MSG_CFG_NAV_SETTINGS, NULL, 0);
_fix_count = 0;
}
return true;
}
return false;
}
bool
AP_GPS_UBLOX::_parse_gps(void)
{
if (_class == CLASS_ACK) {
Debug("ACK %u", (unsigned)_msg_id);
if(_msg_id == MSG_ACK_ACK) {
switch(_buffer.ack.clsID) {
case CLASS_CFG:
switch(_buffer.ack.msgID) {
case MSG_CFG_CFG:
_cfg_saved = true;
_cfg_needs_save = false;
break;
case MSG_CFG_GNSS:
_unconfigured_messages &= ~CONFIG_GNSS;
break;
case MSG_CFG_MSG:
// There is no way to know what MSG config was ack'ed, assume it was the last
// one requested. To verify it rerequest the last config we sent. If we miss
// the actual ack we will catch it next time through the poll loop, but that
// will be a good chunk of time later.
break;
case MSG_CFG_NAV_SETTINGS:
_unconfigured_messages &= ~CONFIG_NAV_SETTINGS;
break;
case MSG_CFG_RATE:
// The GPS will ACK a update rate that is invalid. in order to detect this
// only accept the rate as configured by reading the settings back and
// validating that they all match the target values
break;
case MSG_CFG_SBAS:
_unconfigured_messages &= ~CONFIG_SBAS;
break;
}
break;
case CLASS_MON:
switch(_buffer.ack.msgID) {
case MSG_MON_HW:
_unconfigured_messages &= ~CONFIG_RATE_MON_HW;
break;
case MSG_MON_HW2:
_unconfigured_messages &= ~CONFIG_RATE_MON_HW2;
break;
}
}
}
return false;
}
if (_class == CLASS_CFG) {
switch(_msg_id) {
case MSG_CFG_NAV_SETTINGS:
Debug("Got settings %u min_elev %d drLimit %u\n",
(unsigned)_buffer.nav_settings.dynModel,
(int)_buffer.nav_settings.minElev,
(unsigned)_buffer.nav_settings.drLimit);
_buffer.nav_settings.mask = 0;
if (gps._navfilter != AP_GPS::GPS_ENGINE_NONE &&
_buffer.nav_settings.dynModel != gps._navfilter) {
// we've received the current nav settings, change the engine
// settings and send them back
Debug("Changing engine setting from %u to %u\n",
(unsigned)_buffer.nav_settings.dynModel, (unsigned)gps._navfilter);
_buffer.nav_settings.dynModel = gps._navfilter;
_buffer.nav_settings.mask |= 1;
}
if (gps._min_elevation != -100 &&
_buffer.nav_settings.minElev != gps._min_elevation) {
Debug("Changing min elevation to %d\n", (int)gps._min_elevation);
_buffer.nav_settings.minElev = gps._min_elevation;
_buffer.nav_settings.mask |= 2;
}
if (_buffer.nav_settings.mask != 0) {
_send_message(CLASS_CFG, MSG_CFG_NAV_SETTINGS,
&_buffer.nav_settings,
sizeof(_buffer.nav_settings));
_unconfigured_messages |= CONFIG_NAV_SETTINGS;
_cfg_needs_save = true;
} else {
_unconfigured_messages &= ~CONFIG_NAV_SETTINGS;
}
return false;
#if UBLOX_GNSS_SETTINGS
case MSG_CFG_GNSS:
if (gps._gnss_mode[state.instance] != 0) {
struct ubx_cfg_gnss start_gnss = _buffer.gnss;
uint8_t gnssCount = 0;
Debug("Got GNSS Settings %u %u %u %u:\n",
(unsigned)_buffer.gnss.msgVer,
(unsigned)_buffer.gnss.numTrkChHw,
(unsigned)_buffer.gnss.numTrkChUse,
(unsigned)_buffer.gnss.numConfigBlocks);
#if UBLOX_DEBUGGING
for(int i = 0; i < _buffer.gnss.numConfigBlocks; i++) {
Debug(" %u %u %u 0x%08x\n",
(unsigned)_buffer.gnss.configBlock[i].gnssId,
(unsigned)_buffer.gnss.configBlock[i].resTrkCh,
(unsigned)_buffer.gnss.configBlock[i].maxTrkCh,
(unsigned)_buffer.gnss.configBlock[i].flags);
}
#endif
for(int i = 0; i < UBLOX_MAX_GNSS_CONFIG_BLOCKS; i++) {
if((gps._gnss_mode[state.instance] & (1 << i)) && i != GNSS_SBAS) {
gnssCount++;
}
}
for(int i = 0; i < _buffer.gnss.numConfigBlocks; i++) {
// Reserve an equal portion of channels for all enabled systems
if(gps._gnss_mode[state.instance] & (1 << _buffer.gnss.configBlock[i].gnssId)) {
if(GNSS_SBAS !=_buffer.gnss.configBlock[i].gnssId) {
_buffer.gnss.configBlock[i].resTrkCh = (_buffer.gnss.numTrkChHw - 3) / (gnssCount * 2);
_buffer.gnss.configBlock[i].maxTrkCh = _buffer.gnss.numTrkChHw;
} else {
_buffer.gnss.configBlock[i].resTrkCh = 1;
_buffer.gnss.configBlock[i].maxTrkCh = 3;
}
_buffer.gnss.configBlock[i].flags = _buffer.gnss.configBlock[i].flags | 0x00000001;
} else {
_buffer.gnss.configBlock[i].resTrkCh = 0;
_buffer.gnss.configBlock[i].maxTrkCh = 0;
_buffer.gnss.configBlock[i].flags = _buffer.gnss.configBlock[i].flags & 0xFFFFFFFE;
}
}
if (!memcmp(&start_gnss, &_buffer.gnss, sizeof(start_gnss))) {
_send_message(CLASS_CFG, MSG_CFG_GNSS, &_buffer.gnss, 4 + (8 * _buffer.gnss.numConfigBlocks));
_unconfigured_messages |= CONFIG_GNSS;
_cfg_needs_save = true;
} else {
_unconfigured_messages &= ~CONFIG_GNSS;
}
} else {
_unconfigured_messages &= ~CONFIG_GNSS;
}
return false;
#endif
case MSG_CFG_SBAS:
if (gps._sbas_mode != 2) {
Debug("Got SBAS settings %u %u %u 0x%x 0x%x\n",
(unsigned)_buffer.sbas.mode,
(unsigned)_buffer.sbas.usage,
(unsigned)_buffer.sbas.maxSBAS,
(unsigned)_buffer.sbas.scanmode2,
(unsigned)_buffer.sbas.scanmode1);
if (_buffer.sbas.mode != gps._sbas_mode) {
_buffer.sbas.mode = gps._sbas_mode;
_send_message(CLASS_CFG, MSG_CFG_SBAS,
&_buffer.sbas,
sizeof(_buffer.sbas));
_unconfigured_messages |= CONFIG_SBAS;
_cfg_needs_save = true;
} else {
_unconfigured_messages &= ~CONFIG_SBAS;
}
} else {
_unconfigured_messages &= ~CONFIG_SBAS;
}
return false;
case MSG_CFG_MSG:
if(_payload_length == sizeof(ubx_cfg_msg_rate_6)) {
// can't verify the setting without knowing the port
// request the port again
if(_ublox_port >= UBLOX_MAX_PORTS) {
_request_port();
return false;
}
_verify_rate(_buffer.msg_rate_6.msg_class, _buffer.msg_rate_6.msg_id,
_buffer.msg_rate_6.rates[_ublox_port]);
} else {
_verify_rate(_buffer.msg_rate.msg_class, _buffer.msg_rate.msg_id,
_buffer.msg_rate.rate);
}
return false;
case MSG_CFG_PRT:
_ublox_port = _buffer.prt.portID;
return false;
case MSG_CFG_RATE:
if(_buffer.nav_rate.measure_rate_ms != gps._rate_ms[state.instance] ||
_buffer.nav_rate.nav_rate != 1 ||
_buffer.nav_rate.timeref != 0) {
_configure_rate();
_unconfigured_messages |= CONFIG_RATE_NAV;
_cfg_needs_save = true;
} else {
_unconfigured_messages &= ~CONFIG_RATE_NAV;
}
return false;
}
}
if (_class == CLASS_MON) {
switch(_msg_id) {
case MSG_MON_HW:
if (_payload_length == 60 || _payload_length == 68) {
log_mon_hw();
}
break;
case MSG_MON_HW2:
if (_payload_length == 28) {
log_mon_hw2();
}
break;
case MSG_MON_VER:
_have_version = true;
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO,
"u-blox %d HW: %s SW: %s",
state.instance,
_buffer.mon_ver.hwVersion,
_buffer.mon_ver.swVersion);
break;
default:
unexpected_message();
}
return false;
}
#if UBLOX_RXM_RAW_LOGGING
if (_class == CLASS_RXM && _msg_id == MSG_RXM_RAW && gps._raw_data != 0) {
log_rxm_raw(_buffer.rxm_raw);
return false;
} else if (_class == CLASS_RXM && _msg_id == MSG_RXM_RAWX && gps._raw_data != 0) {
log_rxm_rawx(_buffer.rxm_rawx);
return false;
}
#endif // UBLOX_RXM_RAW_LOGGING
if (_class != CLASS_NAV) {
unexpected_message();
return false;
}
switch (_msg_id) {
case MSG_POSLLH:
Debug("MSG_POSLLH next_fix=%u", next_fix);
_last_pos_time = _buffer.posllh.time;
state.location.lng = _buffer.posllh.longitude;
state.location.lat = _buffer.posllh.latitude;
state.location.alt = _buffer.posllh.altitude_msl / 10;
state.status = next_fix;
_new_position = true;
state.horizontal_accuracy = _buffer.posllh.horizontal_accuracy*1.0e-3f;
state.vertical_accuracy = _buffer.posllh.vertical_accuracy*1.0e-3f;
state.have_horizontal_accuracy = true;
state.have_vertical_accuracy = true;
#if UBLOX_FAKE_3DLOCK
state.location.lng = 1491652300L;
state.location.lat = -353632610L;
state.location.alt = 58400;
state.vertical_accuracy = 0;
state.horizontal_accuracy = 0;
#endif
break;
case MSG_STATUS:
Debug("MSG_STATUS fix_status=%u fix_type=%u",
_buffer.status.fix_status,
_buffer.status.fix_type);
if (_buffer.status.fix_status & NAV_STATUS_FIX_VALID) {
if( (_buffer.status.fix_type == AP_GPS_UBLOX::FIX_3D) &&
(_buffer.status.fix_status & AP_GPS_UBLOX::NAV_STATUS_DGPS_USED)) {
next_fix = AP_GPS::GPS_OK_FIX_3D_DGPS;
}else if( _buffer.status.fix_type == AP_GPS_UBLOX::FIX_3D) {
next_fix = AP_GPS::GPS_OK_FIX_3D;
}else if (_buffer.status.fix_type == AP_GPS_UBLOX::FIX_2D) {
next_fix = AP_GPS::GPS_OK_FIX_2D;
}else{
next_fix = AP_GPS::NO_FIX;
state.status = AP_GPS::NO_FIX;
}
}else{
next_fix = AP_GPS::NO_FIX;
state.status = AP_GPS::NO_FIX;
}
#if UBLOX_FAKE_3DLOCK
state.status = AP_GPS::GPS_OK_FIX_3D;
next_fix = state.status;
#endif
break;
case MSG_DOP:
Debug("MSG_DOP");
noReceivedHdop = false;
state.hdop = _buffer.dop.hDOP;
state.vdop = _buffer.dop.vDOP;
#if UBLOX_FAKE_3DLOCK
state.hdop = 130;
state.hdop = 170;
#endif
break;
case MSG_SOL:
Debug("MSG_SOL fix_status=%u fix_type=%u",
_buffer.solution.fix_status,
_buffer.solution.fix_type);
if (_buffer.solution.fix_status & NAV_STATUS_FIX_VALID) {
if( (_buffer.solution.fix_type == AP_GPS_UBLOX::FIX_3D) &&
(_buffer.solution.fix_status & AP_GPS_UBLOX::NAV_STATUS_DGPS_USED)) {
next_fix = AP_GPS::GPS_OK_FIX_3D_DGPS;
}else if( _buffer.solution.fix_type == AP_GPS_UBLOX::FIX_3D) {
next_fix = AP_GPS::GPS_OK_FIX_3D;
}else if (_buffer.solution.fix_type == AP_GPS_UBLOX::FIX_2D) {
next_fix = AP_GPS::GPS_OK_FIX_2D;
}else{
next_fix = AP_GPS::NO_FIX;
state.status = AP_GPS::NO_FIX;
}
}else{
next_fix = AP_GPS::NO_FIX;
state.status = AP_GPS::NO_FIX;
}
if(noReceivedHdop) {
state.hdop = _buffer.solution.position_DOP;
}
state.num_sats = _buffer.solution.satellites;
if (next_fix >= AP_GPS::GPS_OK_FIX_2D) {
state.last_gps_time_ms = AP_HAL::millis();
state.time_week_ms = _buffer.solution.time;
state.time_week = _buffer.solution.week;
}
#if UBLOX_FAKE_3DLOCK
next_fix = state.status;
state.num_sats = 10;
state.time_week = 1721;
state.time_week_ms = AP_HAL::millis() + 3*60*60*1000 + 37000;
state.last_gps_time_ms = AP_HAL::millis();
state.hdop = 130;
#endif
break;
case MSG_VELNED:
Debug("MSG_VELNED");
_last_vel_time = _buffer.velned.time;
state.ground_speed = _buffer.velned.speed_2d*0.01f; // m/s
state.ground_course = wrap_360(_buffer.velned.heading_2d * 1.0e-5f); // Heading 2D deg * 100000
state.have_vertical_velocity = true;
state.velocity.x = _buffer.velned.ned_north * 0.01f;
state.velocity.y = _buffer.velned.ned_east * 0.01f;
state.velocity.z = _buffer.velned.ned_down * 0.01f;
state.ground_course = wrap_360(degrees(atan2f(state.velocity.y, state.velocity.x)));
state.ground_speed = norm(state.velocity.y, state.velocity.x);
state.have_speed_accuracy = true;
state.speed_accuracy = _buffer.velned.speed_accuracy*0.01f;
#if UBLOX_FAKE_3DLOCK
state.speed_accuracy = 0;
#endif
_new_speed = true;
break;
case MSG_NAV_SVINFO:
{
Debug("MSG_NAV_SVINFO\n");
static const uint8_t HardwareGenerationMask = 0x07;
_hardware_generation = _buffer.svinfo_header.globalFlags & HardwareGenerationMask;
switch (_hardware_generation) {
case UBLOX_5:
case UBLOX_6:
// only 7 and newer support CONFIG_GNSS
_unconfigured_messages &= ~CONFIG_GNSS;
break;
case UBLOX_7:
case UBLOX_M8:
#if UBLOX_SPEED_CHANGE
port->begin(4000000U);
Debug("Changed speed to 4Mhz for SPI-driven UBlox\n");
#endif
break;
default:
hal.console->printf("Wrong Ublox Hardware Version%u\n", _hardware_generation);
break;
};
_unconfigured_messages &= ~CONFIG_VERSION;
/* We don't need that anymore */
_configure_message_rate(CLASS_NAV, MSG_NAV_SVINFO, 0);
break;
}
default:
Debug("Unexpected NAV message 0x%02x", (unsigned)_msg_id);
if (++_disable_counter == 0) {
Debug("Disabling NAV message 0x%02x", (unsigned)_msg_id);
_configure_message_rate(CLASS_NAV, _msg_id, 0);
}
return false;
}
// we only return true when we get new position and speed data
// this ensures we don't use stale data
if (_new_position && _new_speed && _last_vel_time == _last_pos_time) {
_new_speed = _new_position = false;
return true;
}
return false;
}