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Merge pull request #16 from VirusPilot/master 

some more ublox edits
pull/827/merge^2
Adrian Batzill 2019-06-29 09:23:57 +02:00 zatwierdzone przez GitHub
rodzic aec3f88918 5f4dc68fd9
commit 36f5ccff7b
Nie znaleziono w bazie danych klucza dla tego podpisu
ID klucza GPG: 4AEE18F83AFDEB23
4 zmienionych plików z 38 dodań i 58 usunięć
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2
main/gen_gdl90.go
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@ -903,7 +903,7 @@ func updateMessageStats() {
func updateStatus() {
if mySituation.GPSFixQuality == 2 {
globalStatus.GPS_solution = "GPS + SBAS (WAAS)"
globalStatus.GPS_solution = "GPS + SBAS (WAAS / EGNOS)"
} else if mySituation.GPSFixQuality == 1 {
globalStatus.GPS_solution = "3D GPS"
} else if mySituation.GPSFixQuality == 6 {

85
main/gps.go
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@ -263,32 +263,9 @@ func initGPSSerial() bool {
log.Printf("Finished writing SiRF GPS config to %s. Opening port to test connection.\n", device)
}
} else {
// Byte order for UBX configuration is little endian.
/*
Set navigation settings.
nav := make([]byte, 36)
nav[0] = 0x05 // Set dyn and fixMode only.
nav[1] = 0x00
dyn.
nav[2] = 0x07 // "Airborne with >2g Acceleration".
nav[3] = 0x02 // 3D only.
p.Write(makeUBXCFG(0x06, 0x24, 36, nav))
// Turn off "time pulse" (usually drives an LED).
tp5 := make([]byte, 32)
tp5[4] = 0x32
tp5[8] = 0x40
tp5[9] = 0x42
tp5[10] = 0x0F
tp5[12] = 0x40
tp5[13] = 0x42
tp5[14] = 0x0F
tp5[28] = 0xE7
p.Write(makeUBXCFG(0x06, 0x31, 32, tp5))
*/
// GNSS configuration CFG-GNSS for ublox 7 and higher, p. 125 (v8)
// Notes: ublox8 is multi-GNSS capable (simultaneous decoding of GPS and GLONASS, or
@ -302,18 +279,26 @@ func initGPSSerial() bool {
p.Write(makeUBXCFG(0x06, 0x09, 13, []byte{0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0x17}))
time.Sleep(100* time.Millisecond) // pause and wait for the GPS to finish configuring itself before closing / reopening the port
if (globalStatus.GPS_detected_type == GPS_TYPE_UBX8) || (globalStatus.GPS_detected_type == GPS_TYPE_UBX9) || (globalStatus.GPS_detected_type == GPS_TYPE_UART) { // assume that any GPS connected to serial GPIO is ublox8 (RY835/6AI)
// UBX-CFG-NMEA (change NMEA protocol version to 4.1)
p.Write(makeUBXCFG(0x06, 0x17, 20, []byte{0x00, 0x41, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}))
if globalStatus.GPS_detected_type == GPS_TYPE_UBX9 {
if globalSettings.DEBUG {
log.Printf("UBX8/9/unknown device detected on USB, or GPS serial connection in use. Attempting GLONASS and Galelio configuration.\n")
log.Printf("ublox 9 detected\n")
}
// ublox 9: use default GNSS configuration
} else if (globalStatus.GPS_detected_type == GPS_TYPE_UBX8) || (globalStatus.GPS_detected_type == GPS_TYPE_UART) { // assume that any GPS connected to serial GPIO is ublox8 (RY835/6AI)
if globalSettings.DEBUG {
log.Printf("ublox 8 detected\n")
}
// ublox 8
cfgGnss := []byte{0x00, 0x20, 0x20, 0x06}
gps := []byte{0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01} // enable GPS with 8-16 tracking channels
sbas := []byte{0x01, 0x02, 0x03, 0x00, 0x00, 0x00, 0x01, 0x01} // disable SBAS
// sbas := []byte{0x01, 0x02, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01} // enable SBAS with 2-3 tracking channels
beidou := []byte{0x03, 0x04, 0x10, 0x00, 0x00, 0x00, 0x01, 0x01} // this disables BEIDOU
qzss := []byte{0x05, 0x01, 0x03, 0x00, 0x00, 0x00, 0x01, 0x01} // this disables QZSS
glonass := []byte{0x06, 0x08, 0x0E, 0x00, 0x01, 0x00, 0x01, 0x01} // enable GLONASS with 8-14 tracking channels
galileo := []byte{0x02, 0x04, 0x0A, 0x00, 0x01, 0x00, 0x01, 0x01} // enable Galileo with 4-10 tracking channels, ublox 8 does only support up to 10
gps := []byte{0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01} // enable GPS with 8-16 tracking channels
sbas := []byte{0x01, 0x02, 0x03, 0x00, 0x00, 0x00, 0x01, 0x01} // disable SBAS
beidou := []byte{0x03, 0x04, 0x10, 0x00, 0x00, 0x00, 0x01, 0x01} // disable BEIDOU
qzss := []byte{0x05, 0x01, 0x03, 0x00, 0x00, 0x00, 0x01, 0x01} // disable QZSS
glonass := []byte{0x06, 0x08, 0x0E, 0x00, 0x01, 0x00, 0x01, 0x01} // enable GLONASS with 8-14 tracking channels
galileo := []byte{0x02, 0x04, 0x0A, 0x00, 0x01, 0x00, 0x01, 0x01} // enable Galileo with 4-10 tracking channels, ublox 8 does only support up to 10
cfgGnss = append(cfgGnss, gps...)
cfgGnss = append(cfgGnss, sbas...)
cfgGnss = append(cfgGnss, beidou...)
@ -322,15 +307,18 @@ func initGPSSerial() bool {
cfgGnss = append(cfgGnss, galileo...)
p.Write(makeUBXCFG(0x06, 0x3E, uint16(len(cfgGnss)), cfgGnss))
p.Write(makeUBXCFG(0x06, 0x16, 8, []byte{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // SBAS off
// p.Write(makeUBXCFG(0x06, 0x16, 8, []byte{0x01, 0x07, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00})) // SBAS on & Auto Mode
} else { // ublox 6,7
} else if (globalStatus.GPS_detected_type == GPS_TYPE_UBX7) || (globalStatus.GPS_detected_type == GPS_TYPE_UBX6) {
if globalSettings.DEBUG {
log.Printf("ublox 6 or 7 detected\n")
}
// ublox 6,7
cfgGnss := []byte{0x00, 0x20, 0x20, 0x06}
gps := []byte{0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01} // enable GPS with 8-16 tracking channels
sbas := []byte{0x01, 0x02, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01} // enable SBAS with 2-3 tracking channels
beidou := []byte{0x03, 0x00, 0x10, 0x00, 0x00, 0x00, 0x01, 0x01} // this disables BEIDOU
qzss := []byte{0x05, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x01} // this disables QZSS
glonass := []byte{0x06, 0x04, 0x0E, 0x00, 0x00, 0x00, 0x01, 0x01} // this disables GLONASS
galileo := []byte{0x02, 0x04, 0x08, 0x00, 0x00, 0x00, 0x01, 0x01} // this disables Galileo
gps := []byte{0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01} // enable GPS with 8-16 tracking channels
sbas := []byte{0x01, 0x02, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01} // enable SBAS with 2-3 tracking channels
beidou := []byte{0x03, 0x00, 0x10, 0x00, 0x00, 0x00, 0x01, 0x01} // disable BEIDOU
qzss := []byte{0x05, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x01} // disable QZSS
glonass := []byte{0x06, 0x04, 0x0E, 0x00, 0x00, 0x00, 0x01, 0x01} // disable GLONASS
galileo := []byte{0x02, 0x04, 0x08, 0x00, 0x00, 0x00, 0x01, 0x01} // disable Galileo
cfgGnss = append(cfgGnss, gps...)
cfgGnss = append(cfgGnss, sbas...)
cfgGnss = append(cfgGnss, beidou...)
@ -353,13 +341,6 @@ func initGPSSerial() bool {
// UBX-CFG-NAV5 |mask1...| dyn
p.Write(makeUBXCFG(0x06, 0x24, 36, []byte{0x01, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // Dynamic platform model: airborne with <1g acceleration
// UBX-CFG-NAVX5 |version.| |mask1...| |mask2...............| |reserved| minSV maxSV
// p.Write(makeUBXCFG(0x06, 0x23, 40, []byte{0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0x48, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // minSVs=3, maxSVs=72
// UBX-CFG-TP5 U1 U1 | U1[2] | | I2 | | I2 | | U4 | | U4 | | U4 | | U4 | | I4 | | X4 |
// p.Write(makeUBXCFG(0x06, 0x31, 32, []byte{0x00, 0x01, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x00, 0x19, 0x99, 0x99, 0x9A, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x6F}))
// p.Write(makeUBXCFG(0x06, 0x31, 32, []byte{0x01, 0x01, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x00, 0x19, 0x99, 0x99, 0x9A, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x6F}))
// UBX-CFG-MSG (NMEA Standard Messages) msg msg Ports 1-6 (only GGA enabled)
// Class ID DDC UART1 UART2 USB I2C Res
p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x00, 0x00, 0x0A, 0x00, 0x0A, 0x00, 0x00})) // GGA - Global positioning system fix data, enabled every 10th message
@ -383,10 +364,6 @@ func initGPSSerial() bool {
p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF1, 0x03, 0x00, 0x0A, 0x00, 0x0A, 0x00, 0x00})) // Ublox - Satellite Status, enabled every 10th message
p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF1, 0x04, 0x00, 0x0A, 0x00, 0x0A, 0x00, 0x00})) // Ublox - Time of Day and Clock Information, enabled every 10th message
// todo:
// p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF1, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // Ublox - Set NMEA message output rate
// p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF1, 0x41, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // Ublox - Set Protocols and Baudrate
// Reconfigure serial port.
cfg := make([]byte, 20)
cfg[0] = 0x01 // portID.
@ -1167,7 +1144,7 @@ func processNMEALine(l string) (sentenceUsed bool) {
svStr = fmt.Sprintf("G%d", sv)
} else if sv <= 64 {
svType = SAT_TYPE_BEIDOU
svStr = fmt.Sprintf("B%d", sv) // tbd: conversion
svStr = fmt.Sprintf("B%d", sv-32)
} else if sv <= 96 {
svType = SAT_TYPE_GLONASS
svStr = fmt.Sprintf("R%d", sv-64)
@ -1176,7 +1153,7 @@ func processNMEALine(l string) (sentenceUsed bool) {
svStr = fmt.Sprintf("S%d", sv)
} else if sv <= 163 {
svType = SAT_TYPE_BEIDOU
svStr = fmt.Sprintf("B%d", sv) // tbd: conversion
svStr = fmt.Sprintf("B%d", sv-126)
} else if sv <= 193 {
svType = SAT_TYPE_QZSS
svStr = fmt.Sprintf("Q%d", sv-192)

4
main/sensors.go
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@ -162,8 +162,8 @@ func sensorAttitudeSender() {
// Set sensor gyro calibrations
if c, d := &globalSettings.C, &globalSettings.D; d[0]*d[0]+d[1]*d[1]+d[2]*d[2] > 0 {
s.SetCalibrations(c, d)
log.Printf("AHRS Info: IMU Calibrations read from settings: accel %6f %6f %6f; gyro %6f %6f %6f\n",
c[0], c[1], c[2], d[0], d[1], d[2])
// log.Printf("AHRS Info: IMU Calibrations read from settings: accel %6f %6f %6f; gyro %6f %6f %6f\n",
// c[0], c[1], c[2], d[0], d[1], d[2])
} else {
// Do an initial calibration
select { // Don't block if cal isn't receiving: only need one calibration in the queue at a time.

5
web/plates/js/status.js
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@ -85,6 +85,9 @@ function StatusCtrl($rootScope, $scope, $state, $http, $interval) {
case 8:
tempGpsHardwareString = "USB u-blox 8 GNSS receiver";
break;
case 9:
tempGpsHardwareString = "USB u-blox 9 GNSS receiver";
break;
default:
tempGpsHardwareString = "Not installed";
}
@ -134,7 +137,7 @@ function StatusCtrl($rootScope, $scope, $state, $http, $interval) {
/* boardtemp is celcius to tenths */
$scope.CPUTemp = String(boardtemp.toFixed(1) + '°C / ' + ((boardtemp * 9 / 5) + 32.0).toFixed(1) + '°F');
$scope.CPUTempMin = String(status.CPUTempMin.toFixed(1)) + '°C';
$scope.CPUTempMax = String(status.CPUTempMax.toFixed(1)) + '°C';
$scope.CPUTempMax = String(status.CPUTempMax.toFixed(1)) + '°C';
} else {
// $('#CPUTemp').text('unavailable');
}