ArduPilot's internal definition of undulation is reversed in sign
compared to the accepted convention and this creates confusion:
https://github.com/ArduPilot/ardupilot/issues/29199 .
Instead of the internal definition, log the altitude above ellipsoid,
which ArduPilot already consistently and correctly calculates and
broadcasts over e.g. DroneCAN and MAVLink. Switching the quantity logged
allows users to accommodate the problem in old logs (i.e. always flip
GPA.Und sign to match the accepted convention) and reduces opportunity
for future confusion.
Future work will clean up or replace the internal representation, but
this should be a complete fix for the issue from a user perspective.
ArduPilot configures a connected DroneCAN GPS based on its GPS Type.
Given parameter name changes, ArduPilot must be able to configure both new and old AP_Periphs, and new AP_Periphs have to cope with being configured by old ArduPilots.
this allows for redundent RTCM links (eg. WiFi and SiK links for light
show drones) without causing corruption into the GPS.
If the GPS_DRV_OPTION bit is set then we instantiate a separate RTCM3
decoder per mavlink channel, and only inject when we get a full packet
that passes the RTCM 24 bit CRC
* Instead of hard coding to COM2, allow users to set it
* The enum is confusing, so this needs a wiki entry
* Use the same port in requestBAUD
* If the user configures an invalid param, send an error
* Add values for the GSOF COM ports
* Fix bug in RS232 being port 3 instead of port 0
* Use set_default for the typical user value when the GSOF driver is run
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
when moving baseline is enabled the rover is slaved to the base for
position and velocity, adding no additional useful data. Only the yaw
comes from the rover
users with busy CAN bus often get significiantly lower GPS rates on a
moving baseline rover, preventing arming. This PR relaxes the required
frame rate as the EKF is quite happy with 3Hz yaw and the yaw is the
only data consumed from a moving baseline rover
