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[modules] Support dual ublox GPS modules #3267

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merged 4 commits into from
May 24, 2024
Merged

[modules] Support dual ublox GPS modules #3267

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93afa5b
[modules] Support dual ublox GPS modules
fvantienen Apr 25, 2024
c1a3b10
Fix UCenter
dewagter May 23, 2024
1367dfa
Fix make test_modules
dewagter May 23, 2024
517b4cd
Fix: tell ins_ekf2 when no YAW is available
dewagter May 23, 2024
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7 changes: 7 additions & 0 deletions conf/airframes/tudelft/rot_wing_v3g.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -82,8 +82,12 @@
<define name="AIRSPEED_UAVCAN_SEND_ABI" value="0" /> <!-- Read Airspeed for logging but do not use it -->
</module>
<module name="air_data"/>

<configure name="PRIMARY_GPS" value="ublox"/>
<configure name="SECONDARY_GPS" value="ublox2"/>
<module name="gps" type="ublox">
<configure name="UBX_GPS_BAUD" value="B460800"/>
<configure name="UBX2_GPS_BAUD" value="B460800"/>
<define name="USE_GPS_UBX_RTCM" value="TRUE"/>
</module>

Expand Down Expand Up @@ -333,6 +337,9 @@
<define name="USE_AIRSPEED" value="TRUE"/>
<define name="NAV_HYBRID_MAX_DECELERATION" value="0.5"/>
<define name="ROTWING_STATE_USE_ROTATION_REF_MODEL" value="TRUE"/>
<define name="INS_EKF2_FUSION_MODE" value="(MASK_USE_GPS|MASK_USE_GPSYAW)"/>
<define name="INS_EKF2_GPS_YAW_OFFSET" value="0"/>
<define name="MULTI_GPS_MODE" value="PRIMARY_GPS"/>
</section>

<section name="GROUND_DETECT">
Expand Down
7 changes: 7 additions & 0 deletions conf/airframes/tudelft/rot_wing_v3h.xml
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Expand Up @@ -82,8 +82,12 @@
<define name="AIRSPEED_UAVCAN_SEND_ABI" value="0" /> <!-- Read Airspeed for logging but do not use it -->
</module>
<module name="air_data"/>

<configure name="PRIMARY_GPS" value="ublox"/>
<configure name="SECONDARY_GPS" value="ublox2"/>
<module name="gps" type="ublox">
<configure name="UBX_GPS_BAUD" value="B460800"/>
<configure name="UBX2_GPS_BAUD" value="B460800"/>
<define name="USE_GPS_UBX_RTCM" value="TRUE"/>
</module>

Expand Down Expand Up @@ -333,6 +337,9 @@
<define name="USE_AIRSPEED" value="TRUE"/>
<define name="NAV_HYBRID_MAX_DECELERATION" value="0.5"/>
<define name="ROTWING_STATE_USE_ROTATION_REF_MODEL" value="TRUE"/>
<define name="INS_EKF2_FUSION_MODE" value="(MASK_USE_GPS|MASK_USE_GPSYAW)"/>
<define name="INS_EKF2_GPS_YAW_OFFSET" value="0"/>
<define name="MULTI_GPS_MODE" value="PRIMARY_GPS"/>
</section>

<section name="GROUND_DETECT">
Expand Down
6 changes: 5 additions & 1 deletion conf/boards/cube_orangeplus.makefile
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Expand Up @@ -68,10 +68,14 @@ RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART3
MODEM_PORT ?= UART2
MODEM_BAUD ?= B57600

# The GPS1 port (UART8 is GPS2)
# The GPS1 port
GPS_PORT ?= UART4
GPS_BAUD ?= B57600

# The GPS2 port
GPS2_PORT ?= UART8
GPS2_BAUD ?= B57600

# InterMCU port connected to the IO processor
INTERMCU_PORT ?= UART6
INTERMCU_BAUD ?= B1500000
Expand Down
50 changes: 34 additions & 16 deletions conf/modules/gps_ublox.xml
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Expand Up @@ -19,7 +19,7 @@
<settings>
<dl_settings>
<dl_settings name="gps_ublox">
<dl_setting MIN="1" MAX="3" STEP="1" values="Hotstart|Warmstart|Coldstart" module="gps/gps_ubx" VAR="gps_ubx.reset" shortname="reset"/>
<dl_setting MIN="1" MAX="3" STEP="1" values="Hotstart|Warmstart|Coldstart" module="gps/gps_ubx" VAR="gps_ubx_reset" shortname="reset"/>
</dl_settings>
</dl_settings>
</settings>
Expand All @@ -36,33 +36,51 @@
<event fun="gps_ubx_event()"/>
<datalink message="HITL_UBX" fun="gps_ubx_parse_HITL_UBX(buf)"/>
<makefile target="ap|fbw">
<configure name="UBX_GPS_PORT" default="$(GPS_PORT)" case="upper|lower"/>
<configure name="UBX_GPS_BAUD" default="$(GPS_BAUD)"/>

<file name="gps_ubx.c"/>

<!-- GPS Ublox 1 -->
<configure name="UBX_GPS_PORT" default="$(GPS_PORT)" case="upper|lower"/>
<configure name="UBX_GPS_BAUD" default="$(GPS_BAUD)"/>
<define name="USE_$(UBX_GPS_PORT_UPPER)"/>
<define name="UBX_GPS_LINK" value="$(UBX_GPS_PORT_LOWER)"/>
<define name="UBX_GPS_PORT" value="$(UBX_GPS_PORT_LOWER)"/>
<define name="$(UBX_GPS_PORT_UPPER)_BAUD" value="$(UBX_GPS_BAUD)"/>

<!-- GPS Ublox 2 -->
<configure name="UBX2_GPS_PORT" default="$(GPS2_PORT)" case="upper|lower"/>
<configure name="UBX2_GPS_BAUD" default="$(GPS2_BAUD)"/>
<define name="USE_$(UBX2_GPS_PORT_UPPER)" cond="ifneq ($(UBX2_GPS_PORT)$(SECONDARY_GPS),)"/>
<define name="UBX2_GPS_PORT" value="$(UBX2_GPS_PORT_LOWER)" cond="ifneq ($(UBX2_GPS_PORT)$(SECONDARY_GPS),)"/>
<define name="$(UBX2_GPS_PORT_UPPER)_BAUD" value="$(UBX2_GPS_BAUD)" cond="ifneq ($(UBX2_GPS_BAUD)$(SECONDARY_GPS),)"/>
<define name="GPS_UBX_NB" value="2" cond="ifneq ($(UBX2_GPS_PORT)$(SECONDARY_GPS),)"/>

<raw>
ifdef SECONDARY_GPS
ifneq (,$(findstring $(SECONDARY_GPS), ublox))
# this is the secondary GPS
$(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_ubx.h\"
$(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_UBX
else
$(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_ubx.h\"
$(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_UBX
endif
ifneq (,$(findstring ublox2, $(SECONDARY_GPS)))
# this is the secondary GPS
$(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_ubx.h\"
$(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_UBX2
else ifneq (,$(findstring ublox, $(SECONDARY_GPS)))
# this is the secondary GPS
$(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_ubx.h\"
$(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_UBX
endif

ifneq (,$(findstring ublox2, $(PRIMARY_GPS)))
$(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_ubx.h\"
$(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_UBX2
else ifneq (,$(findstring ublox, $(PRIMARY_GPS)))
$(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_ubx.h\"
$(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_UBX
endif
else
# plain old single GPS usage
$(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_ubx.h\"
# plain old single GPS usage
$(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_ubx.h\"
endif
</raw>
<test>
<define name="PRIMARY_GPS" value="GPS_UBX"/>
<define name="USE_UART2"/>
<define name="UBX_GPS_LINK" value="uart2"/>
<define name="UBX_GPS_PORT" value="uart2"/>
</test>
</makefile>
</module>
Expand Down
2 changes: 1 addition & 1 deletion conf/modules/gps_ubx_ucenter.xml
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Expand Up @@ -46,7 +46,7 @@ Warning: you still need to tell the driver, which paparazzi port you use.
<file name="gps_ubx_ucenter.c"/>
<define name="GPS_UBX_UCENTER"/>
<test>
<define name="UBX_GPS_LINK" value="uart2"/>
<define name="UBX_GPS_PORT" value="uart2"/>
<define name="USE_UART2"/>
</test>
</makefile>
Expand Down
4 changes: 4 additions & 0 deletions sw/airborne/modules/core/abi_sender_ids.h
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Expand Up @@ -296,6 +296,10 @@
#define GPS_DW1000_ID 15
#endif

#ifndef GPS_UBX2_ID
#define GPS_UBX2_ID 16
#endif

/*
* IDs of IMU sensors (accel, gyro)
*/
Expand Down
22 changes: 0 additions & 22 deletions sw/airborne/modules/gps/gps.c
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Expand Up @@ -69,7 +69,6 @@ PRINT_CONFIG_VAR(SECONDARY_GPS)
struct GpsState gps;
struct GpsTimeSync gps_time_sync;
struct GpsRelposNED gps_relposned;
struct RtcmMan rtcm_man;

#ifdef SECONDARY_GPS
static uint8_t current_gps_id = GpsId(PRIMARY_GPS);
Expand Down Expand Up @@ -175,17 +174,6 @@ static void send_gps_rtk(struct transport_tx *trans, struct link_device *dev)
&gps_relposned.gnssFixOK);
}

static void send_gps_rxmrtcm(struct transport_tx *trans, struct link_device *dev)
{
pprz_msg_send_GPS_RXMRTCM(trans, dev, AC_ID,
&rtcm_man.Cnt105,
&rtcm_man.Cnt177,
&rtcm_man.Cnt187,
&rtcm_man.Crc105,
&rtcm_man.Crc177,
&rtcm_man.Crc187);
}

static void send_gps_int(struct transport_tx *trans, struct link_device *dev)
{
#if PPRZLINK_DEFAULT_VER == 2 && GPS_POS_BROADCAST
Expand Down Expand Up @@ -364,22 +352,12 @@ void gps_init(void)
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_GPS_SOL, send_gps_sol);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_SVINFO, send_svinfo);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_GPS_RTK, send_gps_rtk);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_GPS_RXMRTCM, send_gps_rxmrtcm);
#endif

/* Register preflight checks */
#if PREFLIGHT_CHECKS
preflight_check_register(&gps_pfc, gps_preflight);
#endif

// Initializing counter variables to count the number of Rtcm msgs in the input stream(for each msg type)
rtcm_man.Cnt105 = 0;
rtcm_man.Cnt177 = 0;
rtcm_man.Cnt187 = 0;
// Initializing counter variables to count the number of messages that failed Crc Check
rtcm_man.Crc105 = 0;
rtcm_man.Crc177 = 0;
rtcm_man.Crc187 = 0;
}

uint32_t gps_tow_from_sys_ticks(uint32_t sys_ticks)
Expand Down
14 changes: 3 additions & 11 deletions sw/airborne/modules/gps/gps.h
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Original file line number Diff line number Diff line change
Expand Up @@ -133,6 +133,8 @@ struct GpsRelposNED {
int8_t relPosHPN;
int8_t relPosHPE;
int8_t relPosHPD;
float relPosLength;
float relPosHeading;
uint32_t accN;
uint32_t accE;
uint32_t accD;
Expand All @@ -141,17 +143,7 @@ struct GpsRelposNED {
uint8_t diffSoln;
uint8_t gnssFixOK;
};

struct RtcmMan {
uint16_t RefStation;
uint16_t MsgType; // Counter variables to count the number of Rtcm msgs in the input stream(for each msg type)
uint32_t Cnt105;
uint32_t Cnt177;
uint32_t Cnt187; // Counter variables to count the number of messages that failed Crc Check
uint32_t Crc105;
uint32_t Crc177;
uint32_t Crc187;
};
extern struct GpsRelposNED gps_relposned;

/** global GPS state */
extern struct GpsState gps;
Expand Down