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INAV: Option to disable usage of GPS VelNED information; GPS: Disable GPS version detection - some NEO-7Ms seem to lack support of the PVT message

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Konstantin Sharlaimov (DigitalEntity) 2016-01-21 11:34:38 +10:00
parent 7c1680ff34
commit 27c769888d
5 changed files with 18 additions and 6 deletions
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5
src/main/config/config.c
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@ -134,7 +134,7 @@ static uint32_t activeFeaturesLatch = 0;
static uint8_t currentControlRateProfileIndex = 0; static uint8_t currentControlRateProfileIndex = 0;
controlRateConfig_t *currentControlRateProfile; controlRateConfig_t *currentControlRateProfile;
static const uint8_t EEPROM_CONF_VERSION = 112; static const uint8_t EEPROM_CONF_VERSION = 113;
static void resetAccelerometerTrims(flightDynamicsTrims_t * accZero, flightDynamicsTrims_t * accGain) static void resetAccelerometerTrims(flightDynamicsTrims_t * accZero, flightDynamicsTrims_t * accGain)
{ {
@ -230,6 +230,7 @@ void resetNavConfig(navConfig_t * navConfig)
navConfig->inav.gps_min_sats = 5; navConfig->inav.gps_min_sats = 5;
navConfig->inav.gps_delay_ms = 200; navConfig->inav.gps_delay_ms = 200;
navConfig->inav.accz_unarmed_cal = 1; navConfig->inav.accz_unarmed_cal = 1;
navConfig->inav.use_gps_velned = 1; // "Disabled" is mandatory with gps_nav_model = LOW_G
navConfig->inav.w_z_baro_p = 1.0f; navConfig->inav.w_z_baro_p = 1.0f;
@ -521,7 +522,7 @@ static void resetConf(void)
masterConfig.gpsConfig.sbasMode = SBAS_AUTO; masterConfig.gpsConfig.sbasMode = SBAS_AUTO;
masterConfig.gpsConfig.autoConfig = GPS_AUTOCONFIG_ON; masterConfig.gpsConfig.autoConfig = GPS_AUTOCONFIG_ON;
masterConfig.gpsConfig.autoBaud = GPS_AUTOBAUD_ON; masterConfig.gpsConfig.autoBaud = GPS_AUTOBAUD_ON;
masterConfig.gpsConfig.navModel = GPS_MODEL_LOW_G; masterConfig.gpsConfig.navModel = GPS_MODEL_HIGH_G;
#endif #endif
#ifdef NAV #ifdef NAV

1
src/main/flight/navigation_rewrite.h
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@ -81,6 +81,7 @@ typedef struct navConfig_s {
#endif #endif
uint8_t gps_min_sats; uint8_t gps_min_sats;
uint8_t accz_unarmed_cal; uint8_t accz_unarmed_cal;
uint8_t use_gps_velned;
uint16_t gps_delay_ms; uint16_t gps_delay_ms;
float w_z_baro_p; // Weight (cutoff frequency) for barometer altitude measurements float w_z_baro_p; // Weight (cutoff frequency) for barometer altitude measurements

4
src/main/flight/navigation_rewrite_pos_estimator.c
View file

@ -287,7 +287,7 @@ void onNewGPSData(void)
/* Use VELNED provided by GPS if available, calculate from coordinates otherwise */ /* Use VELNED provided by GPS if available, calculate from coordinates otherwise */
float gpsScaleLonDown = constrainf(cos_approx((ABS(gpsSol.llh.lat) / 10000000.0f) * 0.0174532925f), 0.01f, 1.0f); float gpsScaleLonDown = constrainf(cos_approx((ABS(gpsSol.llh.lat) / 10000000.0f) * 0.0174532925f), 0.01f, 1.0f);
if (gpsSol.flags.validVelNE) { if (posControl.navConfig->inav.use_gps_velned && gpsSol.flags.validVelNE) {
posEstimator.gps.vel.V.X = gpsSol.velNED[0]; posEstimator.gps.vel.V.X = gpsSol.velNED[0];
posEstimator.gps.vel.V.Y = gpsSol.velNED[1]; posEstimator.gps.vel.V.Y = gpsSol.velNED[1];
} }
@ -296,7 +296,7 @@ void onNewGPSData(void)
posEstimator.gps.vel.V.Y = (posEstimator.gps.vel.V.Y + (gpsScaleLonDown * DISTANCE_BETWEEN_TWO_LONGITUDE_POINTS_AT_EQUATOR * (gpsSol.llh.lon - previousLon) / dT)) / 2.0f; posEstimator.gps.vel.V.Y = (posEstimator.gps.vel.V.Y + (gpsScaleLonDown * DISTANCE_BETWEEN_TWO_LONGITUDE_POINTS_AT_EQUATOR * (gpsSol.llh.lon - previousLon) / dT)) / 2.0f;
} }
if (gpsSol.flags.validVelD) { if (posControl.navConfig->inav.use_gps_velned && gpsSol.flags.validVelD) {
posEstimator.gps.vel.V.Z = - gpsSol.velNED[2]; // NEU posEstimator.gps.vel.V.Z = - gpsSol.velNED[2]; // NEU
} }
else { else {

13
src/main/io/gps_ublox.c
View file

@ -45,7 +45,7 @@
#if defined(GPS) && defined(GPS_PROTO_UBLOX) #if defined(GPS) && defined(GPS_PROTO_UBLOX)
#define GPS_PROTO_UBLOX_NEO7PLUS //#define GPS_PROTO_UBLOX_NEO7PLUS
#define GPS_VERSION_DETECTION_TIMEOUT_MS 300 #define GPS_VERSION_DETECTION_TIMEOUT_MS 300
static const char * baudInitData[GPS_BAUDRATE_COUNT] = { static const char * baudInitData[GPS_BAUDRATE_COUNT] = {
@ -587,7 +587,16 @@ static bool gpsConfigure(void)
break; break;
case 4: // Configure RATE case 4: // Configure RATE
ubxTransmitAutoConfigCommands(ubloxInit_RATE_5Hz, sizeof(ubloxInit_RATE_5Hz)); #ifdef GPS_PROTO_UBLOX_NEO7PLUS
if (gpsState.hwVersion < 70000) {
#endif
ubxTransmitAutoConfigCommands(ubloxInit_RATE_5Hz, sizeof(ubloxInit_RATE_5Hz));
#ifdef GPS_PROTO_UBLOX_NEO7PLUS
}
else {
ubxTransmitAutoConfigCommands(ubloxInit_RATE_10Hz, sizeof(ubloxInit_RATE_10Hz));
}
#endif
break; break;
case 5: // SBAS case 5: // SBAS

1
src/main/io/serial_cli.c
View file

@ -564,6 +564,7 @@ const clivalue_t valueTable[] = {
#endif #endif
{ "inav_accz_unarmedcal", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.navConfig.inav.accz_unarmed_cal, .config.lookup = { TABLE_OFF_ON }, 0 }, { "inav_accz_unarmedcal", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.navConfig.inav.accz_unarmed_cal, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "inav_use_gps_velned", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.navConfig.inav.use_gps_velned, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "inav_gps_delay", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.inav.gps_delay_ms, .config.minmax = { 0, 500 }, 0 }, { "inav_gps_delay", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.inav.gps_delay_ms, .config.minmax = { 0, 500 }, 0 },
{ "inav_gps_min_sats", VAR_UINT8 | MASTER_VALUE, &masterConfig.navConfig.inav.gps_min_sats, .config.minmax = { 5, 10}, 0 }, { "inav_gps_min_sats", VAR_UINT8 | MASTER_VALUE, &masterConfig.navConfig.inav.gps_min_sats, .config.minmax = { 5, 10}, 0 },