From acd39d8bdcfb9d1bc08421878050a02a1cf43b86 Mon Sep 17 00:00:00 2001 From: datagnss Date: Sat, 19 Oct 2024 14:18:41 +0800 Subject: [PATCH 1/2] Update to support Allystar heading sentence - add support allystar Heading sentence $PALYSBLS - add support for forcing the NMEA output rate to 5Hz --- libraries/AP_GPS/AP_GPS_NMEA.cpp | 144 ++++++++++++++++++++++++++++++- libraries/AP_GPS/AP_GPS_NMEA.h | 26 ++++++ libraries/AP_GPS/AP_GPS_config.h | 4 + 3 files changed, 172 insertions(+), 2 deletions(-) diff --git a/libraries/AP_GPS/AP_GPS_NMEA.cpp b/libraries/AP_GPS/AP_GPS_NMEA.cpp index 8d8c0db18501a..efb9dc0d82b09 100644 --- a/libraries/AP_GPS/AP_GPS_NMEA.cpp +++ b/libraries/AP_GPS/AP_GPS_NMEA.cpp @@ -281,6 +281,22 @@ bool AP_GPS_NMEA::_have_new_message() } #endif // AP_GPS_NMEA_UNICORE_ENABLED +#if AP_GPS_NMEA_ALLYSTAR_ENABLED + +#if GPS_MOVING_BASELINE + + if (now - _last_PALYSBLS_ms > 500) { + if (_last_PALYSBLS_ms != 0) { + // we have lost PALYSBLS + state.have_gps_yaw = false; + _last_PALYSBLS_ms = 0; + } + } + +#endif // GPS_MOVING_BASELINE + +#endif // AP_GPS_NMEA_ALLYSTAR_ENABLED + _last_fix_ms = now; _last_GGA_ms = 1; @@ -508,6 +524,38 @@ bool AP_GPS_NMEA::_term_complete() break; } #endif // AP_GPS_NMEA_UNICORE_ENABLED + +#if AP_GPS_NMEA_ALLYSTAR_ENABLED // AllyStar Moving Baseline extensions + + case _GPS_SENTENCE_PALYSBLS: { +#if GPS_MOVING_BASELINE + const auto &bls = _alysbls_heading; + _last_PALYSBLS_ms = now; + if (now - _last_GGA_ms > 500 || bls.mb_quality_indicator != 4) { // RTK Fixed + // now - _last_GGA_ms > 500 is a failsafe to prevent us from using stale data + // need RTK Fixed + state.have_gps_yaw = false; + break; + } + + const float dist = bls.baseline_length; + const float bearing = bls.heading; + const float alt_diff = dist*tanf(radians(-bls.pitch)); + state.relPosHeading = bearing; + state.relPosLength = dist; + state.relPosD = alt_diff; + state.relposheading_ts = now; + if (calculate_moving_base_yaw(bearing, dist, alt_diff)) { + state.have_gps_yaw_accuracy = false; + _last_yaw_ms = now; + } + state.gps_yaw_configured = true; + +#endif // GPS_MOVING_BASELINE + break; + } +#endif // AP_GPS_NMEA_ALLYSTAR_ENABLED + } // see if we got a good message return _have_new_message(); @@ -543,6 +591,18 @@ bool AP_GPS_NMEA::_term_complete() return false; } #endif + + /* + AllyStar Moving Baseline extensions + */ +#if AP_GPS_NMEA_ALLYSTAR_ENABLED + if (strcmp(_term, "PALYSBLS") == 0) { + _sentence_type = _GPS_SENTENCE_PALYSBLS; + return false; + } +#endif + + /* The first two letters of the NMEA term are the talker ID. The most common is 'GP' but there are a bunch of others @@ -670,12 +730,74 @@ bool AP_GPS_NMEA::_term_complete() break; #endif #endif + +#if AP_GPS_NMEA_ALLYSTAR_ENABLED +#if GPS_MOVING_BASELINE + case _GPS_SENTENCE_PALYSBLS + 1 ... _GPS_SENTENCE_PALYSBLS + 9: // PALYSBLS message + parse_alysbls_field(_term_number, _term); + break; +#endif // GPS_MOVING_BASELINE +#endif // AP_GPS_NMEA_ALLYSTAR_ENABLED + } } return false; } + +#if AP_GPS_NMEA_ALLYSTAR_ENABLED +#if GPS_MOVING_BASELINE +/* + parse a PALYSBLS message + + Example: + $PALYSBLS,034727.000,0.256,0.992,-0.258,1.056,75.52,-14.12,R*4E + header,hhmmss.sss,lat-projection of bl,long-projection of bl,height-projection of bl,baseline length,yaw,pitch, status(A:Autonomous, D: DGPS, N: invalid,F:Float,R:RTK Fixed) + */ +void AP_GPS_NMEA::parse_alysbls_field(uint16_t term_number, const char *term) +{ + auto &bls = _alysbls_heading; + + switch (term_number) { + case 5: + bls.baseline_length = atof(term); + break; + case 6: + bls.heading = atof(term); + break; + case 7: + bls.pitch = atof(term); + break; + case 8: + switch (term[0]) { + case 'A': + bls.mb_quality_indicator = 1; // Autonomous + break; + case 'D': + bls.mb_quality_indicator = 2; // DGPS + break; + case 'N': + bls.mb_quality_indicator = 0; // Invalid + break; + case 'F': + bls.mb_quality_indicator = 5; // RTK Float + break; + case 'R': + bls.mb_quality_indicator = 4; // RTK Fixed + break; + default: + bls.mb_quality_indicator = 0; // Default to invalid if unknown + break; + } + break; + } +} + +#endif + +#endif + #if AP_GPS_NMEA_UNICORE_ENABLED /* parse an AGRICA message term @@ -885,6 +1007,7 @@ void AP_GPS_NMEA::send_config(void) } #endif // AP_GPS_NMEA_UNICORE_ENABLED + case AP_GPS::GPS_TYPE_HEMI: { port->printf( "$JATT,NMEAHE,0\r\n" /* Prefix of GP on the HDT message */ \ @@ -897,10 +1020,27 @@ void AP_GPS_NMEA::send_config(void) break; } - case AP_GPS::GPS_TYPE_ALLYSTAR: + + // For Allystar + case AP_GPS::GPS_TYPE_ALLYSTAR:{ + // Allystar no longer supports CFG-PWRCTL, it is recommended to use CFG-PWRCTL2 (0x06,0x44). + // CFG-PWRCTL2 does not support ASCII mode + /* nmea_printf(port, "$PHD,06,42,UUUUTTTT,BB,0,%u,55,0,%u,0,0,0", - unsigned(rate_hz), unsigned(rate_ms)); + unsigned(rate_hz), unsigned(rate_ms)); */ + // set to 5Hz, F1 D9 06 44 10 00 00 00 01 00 05 00 00 00 C8 00 00 00 00 00 00 00 28 2E + // set to 1Hz, F1 D9 06 44 10 00 00 00 01 00 01 00 00 00 E8 03 00 00 00 00 00 00 47 13 + + // force to send cmd to set rate to 5Hz,since Allystar's RTK/Heading product only support rate up to 5Hz + const uint8_t allystar_cfg_rate_5hz[] = { + 0xF1, 0xD9, 0x06, 0x44, 0x10, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0x00, + 0x00, 0x00, 0xC8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x28, 0x2E + }; + + port->write(allystar_cfg_rate_5hz, sizeof(allystar_cfg_rate_5hz)); break; + } + default: break; diff --git a/libraries/AP_GPS/AP_GPS_NMEA.h b/libraries/AP_GPS/AP_GPS_NMEA.h index 3109600b4ef8a..ec3c640556b93 100644 --- a/libraries/AP_GPS/AP_GPS_NMEA.h +++ b/libraries/AP_GPS/AP_GPS_NMEA.h @@ -89,6 +89,7 @@ class AP_GPS_NMEA : public AP_GPS_Backend _GPS_SENTENCE_AGRICA = 193, // extension for Unicore, 65 fields _GPS_SENTENCE_VERSIONA = 270, // extension for Unicore, version, 10 fields _GPS_SENTENCE_UNIHEADINGA = 290, // extension for Unicore, uniheadinga, 20 fields + _GPS_SENTENCE_PALYSBLS = 320, // extension for AllyStar, moving baseline, 9 fields _GPS_SENTENCE_OTHER = 0 }; @@ -146,6 +147,14 @@ class AP_GPS_NMEA : public AP_GPS_Backend #endif #endif +#if AP_GPS_NMEA_ALLYSTAR_ENABLED + +#if GPS_MOVING_BASELINE + // parse ALLYSTAR $PALYSBLS field + void parse_alysbls_field(uint16_t term_number, const char *term); +#endif +#endif + uint8_t _parity; ///< NMEA message checksum accumulator uint32_t _crc32; ///< CRC for unicore messages @@ -182,6 +191,7 @@ class AP_GPS_NMEA : public AP_GPS_Backend uint32_t _last_3D_velocity_ms; uint32_t _last_KSXT_pos_ms; uint32_t _last_AGRICA_ms; + uint32_t _last_PALYSBLS_ms; uint32_t _last_fix_ms; /// @name Init strings @@ -259,6 +269,22 @@ class AP_GPS_NMEA : public AP_GPS_Backend #endif // AP_GPS_NMEA_UNICORE_ENABLED bool _expect_agrica; + + +#if AP_GPS_NMEA_ALLYSTAR_ENABLED +#if GPS_MOVING_BASELINE + // $PALYSBLS,034727.000,0.256,0.992,-0.258,1.056,75.52,-14.12,R*4E + // lat-projection of bl,long-project of bl,height-project of bl,baseline length,yaw,pitch,mode(A:Autonomous, D: DGPS, N: invalid,F:Float,R:RTK Fixed) + // ALLYSTAR $PALYSBLS field + struct { + float baseline_length; + float heading; + float pitch; + uint8_t mb_quality_indicator; + } _alysbls_heading; +#endif +#endif + // last time we sent type specific config strings uint32_t last_config_ms; diff --git a/libraries/AP_GPS/AP_GPS_config.h b/libraries/AP_GPS/AP_GPS_config.h index 08ebdac605938..2f9429a4268a8 100644 --- a/libraries/AP_GPS/AP_GPS_config.h +++ b/libraries/AP_GPS/AP_GPS_config.h @@ -73,6 +73,10 @@ #define AP_GPS_NMEA_UNICORE_ENABLED AP_GPS_NMEA_ENABLED #endif +#ifndef AP_GPS_NMEA_ALLYSTAR_ENABLED + #define AP_GPS_NMEA_ALLYSTAR_ENABLED AP_GPS_NMEA_ENABLED +#endif + #ifndef AP_GPS_NOVA_ENABLED #define AP_GPS_NOVA_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED #endif From 719913382413a41206b0f1be1d5aa4522499289d Mon Sep 17 00:00:00 2001 From: datagnss Date: Wed, 23 Oct 2024 13:01:01 +0800 Subject: [PATCH 2/2] Update AP_GPS_NMEA.h --- libraries/AP_GPS/AP_GPS_NMEA.h | 1 + 1 file changed, 1 insertion(+) diff --git a/libraries/AP_GPS/AP_GPS_NMEA.h b/libraries/AP_GPS/AP_GPS_NMEA.h index ec3c640556b93..130302053d449 100644 --- a/libraries/AP_GPS/AP_GPS_NMEA.h +++ b/libraries/AP_GPS/AP_GPS_NMEA.h @@ -276,6 +276,7 @@ class AP_GPS_NMEA : public AP_GPS_Backend // $PALYSBLS,034727.000,0.256,0.992,-0.258,1.056,75.52,-14.12,R*4E // lat-projection of bl,long-project of bl,height-project of bl,baseline length,yaw,pitch,mode(A:Autonomous, D: DGPS, N: invalid,F:Float,R:RTK Fixed) // ALLYSTAR $PALYSBLS field + // not support HDT yet struct { float baseline_length; float heading;