Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-08-17 14:02:49 +08:00
Code Issues Actions 56 Packages Projects Releases Wiki Activity

support logging three rf blocks for X20 compatibility

Browse Source
This commit is contained in:
thomas
2026-08-13 20:14:50 +02:00
parent 51658ce846
commit e529a5d8f2
4 changed files with 46 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/SensorGnssRf.msg
+1 -1
View File
@@ -49,4 +49,4 @@ uint8 RF_BAND_L3 = 3 # L3 band
uint8 RF_BAND_L5 = 4 # L5 band
# One topic per RF block ID
# TOPICS sensor_gnss_rf_block0 sensor_gnss_rf_block1
# TOPICS sensor_gnss_rf_block0 sensor_gnss_rf_block1 sensor_gnss_rf_block2
msg/SensorGnssSpectrum.msg
+1 -1
View File
@@ -19,4 +19,4 @@ uint32 center_frequency # [Hz] Center frequency of the spectrum span
uint8 programmable_gain_amplifier # [dB] Programmable gain amplifier setting
# One topic per RF block ID
# TOPICS sensor_gnss_spectrum_block0 sensor_gnss_spectrum_block1
# TOPICS sensor_gnss_spectrum_block0 sensor_gnss_spectrum_block1 sensor_gnss_spectrum_block2
src/drivers/gps/devices
+1 -1
Submodule src/drivers/gps/devices updated: dcd7540e14...2922bc94a0
src/drivers/gps/gps.cpp
+43 -1
View File
@@ -150,7 +150,7 @@ struct GPS_Sat_Info {
satellite_info_s _data;
};
static constexpr int TASK_STACK_SIZE = PX4_STACK_ADJUSTED(2300);
static constexpr int TASK_STACK_SIZE = PX4_STACK_ADJUSTED(2750);
class GPS : public ModuleBase, public device::Device
@@ -245,8 +245,10 @@ private:
uORB::PublicationMulti<sensor_gnss_relative_s> _sensor_gnss_relative_pub{ORB_ID(sensor_gnss_relative)};
uORB::PublicationMulti<sensor_gnss_rf_s> _sensor_gnss_rf_block0_pub{ORB_ID(sensor_gnss_rf_block0)};
uORB::PublicationMulti<sensor_gnss_rf_s> _sensor_gnss_rf_block1_pub{ORB_ID(sensor_gnss_rf_block1)};
uORB::PublicationMulti<sensor_gnss_rf_s> _sensor_gnss_rf_block2_pub{ORB_ID(sensor_gnss_rf_block2)};
uORB::PublicationMulti<sensor_gnss_spectrum_s> _sensor_gnss_spectrum_block0_pub{ORB_ID(sensor_gnss_spectrum_block0)};
uORB::PublicationMulti<sensor_gnss_spectrum_s> _sensor_gnss_spectrum_block1_pub{ORB_ID(sensor_gnss_spectrum_block1)};
uORB::PublicationMulti<sensor_gnss_spectrum_s> _sensor_gnss_spectrum_block2_pub{ORB_ID(sensor_gnss_spectrum_block2)};
uORB::PublicationMulti<satellite_info_s> _report_sat_info_pub{ORB_ID(satellite_info)}; ///< uORB pub for satellite info
@@ -294,8 +296,10 @@ private:
static px4::atomic_bool _is_sat_info_main_advertised;
static px4::atomic_bool _is_rf_block0_main_advertised;
static px4::atomic_bool _is_rf_block1_main_advertised;
static px4::atomic_bool _is_rf_block2_main_advertised;
static px4::atomic_bool _is_spectrum_block0_main_advertised;
static px4::atomic_bool _is_spectrum_block1_main_advertised;
static px4::atomic_bool _is_spectrum_block2_main_advertised;
static px4::atomic<GPS *> _secondary_instance;
@@ -327,6 +331,7 @@ private:
void publishRF(sensor_gnss_rf_s &gnss_rf);
void publishRFBlock0(sensor_gnss_rf_s &gnss_rf);
void publishRFBlock1(sensor_gnss_rf_s &gnss_rf);
void publishRFBlock2(sensor_gnss_rf_s &gnss_rf);
/**
* Publish spectrum
@@ -334,6 +339,7 @@ private:
void publishSpectrum(sensor_gnss_spectrum_s &gnss_spectrum);
void publishSpectrumBlock0(sensor_gnss_spectrum_s &gnss_spectrum);
void publishSpectrumBlock1(sensor_gnss_spectrum_s &gnss_spectrum);
void publishSpectrumBlock2(sensor_gnss_spectrum_s &gnss_spectrum);
/**
* This is an abstraction for the poll on serial used.
@@ -408,8 +414,10 @@ px4::atomic_bool GPS::_is_gps_main_advertised{false};
px4::atomic_bool GPS::_is_sat_info_main_advertised{false};
px4::atomic_bool GPS::_is_rf_block0_main_advertised{false};
px4::atomic_bool GPS::_is_rf_block1_main_advertised{false};
px4::atomic_bool GPS::_is_rf_block2_main_advertised{false};
px4::atomic_bool GPS::_is_spectrum_block0_main_advertised{false};
px4::atomic_bool GPS::_is_spectrum_block1_main_advertised{false};
px4::atomic_bool GPS::_is_spectrum_block2_main_advertised{false};
px4::atomic<GPS *> GPS::_secondary_instance{nullptr};
ModuleBase::Descriptor GPS::desc{task_spawn, custom_command, print_usage};
@@ -1696,6 +1704,10 @@ GPS::publishRF(sensor_gnss_rf_s &gnss_rf)
else if (gnss_rf.block_id == 1) {
publishRFBlock1(gnss_rf);
}
else if (gnss_rf.block_id == 2) {
publishRFBlock2(gnss_rf);
}
}
void
@@ -1724,6 +1736,19 @@ GPS::publishRFBlock1(sensor_gnss_rf_s &gnss_rf)
}
}
void
GPS::publishRFBlock2(sensor_gnss_rf_s &gnss_rf)
{
if (_instance == Instance::Main || _is_rf_block2_main_advertised.load()) {
gnss_rf.device_id = get_device_id();
gnss_rf.timestamp = hrt_absolute_time();
_sensor_gnss_rf_block2_pub.publish(gnss_rf);
// impose Main instance to publish sat_info first to assign first index
_is_rf_block2_main_advertised.store(true);
}
}
void
GPS::publishSpectrum(sensor_gnss_spectrum_s &gnss_spectrum)
{
@@ -1734,6 +1759,10 @@ GPS::publishSpectrum(sensor_gnss_spectrum_s &gnss_spectrum)
else if (gnss_spectrum.block_id == 1) {
publishSpectrumBlock1(gnss_spectrum);
}
else if (gnss_spectrum.block_id == 2) {
publishSpectrumBlock2(gnss_spectrum);
}
}
void
@@ -1762,6 +1791,19 @@ GPS::publishSpectrumBlock1(sensor_gnss_spectrum_s &gnss_spectrum)
}
}
void
GPS::publishSpectrumBlock2(sensor_gnss_spectrum_s &gnss_spectrum)
{
if (_instance == Instance::Main || _is_spectrum_block2_main_advertised.load()) {
gnss_spectrum.device_id = get_device_id();
gnss_spectrum.timestamp = hrt_absolute_time();
_sensor_gnss_spectrum_block2_pub.publish(gnss_spectrum);
// impose Main instance to publish sat_info first to assign first index
_is_spectrum_block2_main_advertised.store(true);
}
}
int
GPS::custom_command(int argc, char *argv[])
{