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Disable GPS_Fix for a given number of seconds (#3479)
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* Disable GPS_Fix for a given number of seconds in ABI messages for testing purposes.

* Add protection to by default not allow disabling GPS

* Add example

* Covert into TRUE/FALSE since the define in seconds is not used.
This commit is contained in:
Christophe De Wagter
2025-08-14 14:21:32 +02:00
committed by GitHub
parent 4e7259a17f
commit 6e83bb634c
4 changed files with 109 additions and 30 deletions
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conf/airframes/tudelft/easystar3_fw.xml
+76 -29
View File
@@ -5,6 +5,8 @@
-->
<airframe name="Easystar3">
<description>
</description>
<firmware name="fixedwing">
<configure name="USE_MAGNETOMETER" value="TRUE"/>
@@ -13,6 +15,9 @@
<target name="ap" board="px4fmu_5.0_chibios">
<define name="USE_BARO_BOARD" value="TRUE"/>
<configure name="PERIODIC_FREQUENCY" value="120"/>
<!--define name="ADC_CHANNEL_VSUPPLY" value="ADC_3"/>
<define name="ADC_CHANNEL_CURRENT" value="ADC_4"/-->
<module name="radio_control" type="sbus">
<configure name="SBUS_PORT" value="UART3"/>
</module>
@@ -23,8 +28,16 @@
<module name="radio_control" type="ppm"/>
</target>
<target name="nps" board="pc">
<!-- <configure name="SYS_TIME_FREQUENCY" value="120"/> -->
<configure name="PERIODIC_FREQUENCY" value="60"/>
<module name="radio_control" type="ppm"/>
<module name="fdm" type="jsbsim"/>
</target>
<module name="telemetry" type="transparent">
<configure name="MODEM_PORT" value="usb_serial"/>
<configure name="MODEM_BAUD" value="B57600"/>
<!--configure name="MODEM_PORT" value="usb_serial"/-->
</module>
<module name="imu" type="mpu6000"/>
@@ -34,22 +47,40 @@
<define name="NO_RESET_UPDATE_SETPOINT_HEADING" value="true"/>
</module-->
<module name="gps" type="ublox">
<configure name="GPS_BAUD" value="B115200"/>
<configure name="GPS_BAUD" value="B460800"/>
<define name="GPS_LOSS_TEST_TIMER" value="TRUE"/><!-- Allows disabling 3D fix for X seconds -->
</module>
<module name="airspeed" type="ms45xx_i2c">
<configure name="MS45XX_I2C_DEV" value="i2c4"/>
</module>
<module name="air_data"/>
<module name="baro_board"/>
<module name="air_data">
<define name="AIR_DATA_CALC_AMSL_BARO" value="TRUE"/>
</module>
<module name="actuators" type="pwm"/>
<module name="control" type="new"/>
<module name="navigation"/>
<module name="mag_ist8310">
<!-- External Drotek -->
<module name="mag" type="rm3100">
<configure name="MAG_RM3100_I2C_DEV" value="i2c2"/>
<define name="MODULE_RM3100_UPDATE_AHRS" value="TRUE"/>
<define name="RM3100_CHAN_X" value="0"/>
<define name="RM3100_CHAN_Y" value="1"/>
<define name="RM3100_CHAN_Z" value="2"/>
<define name="RM3100_CHAN_X_SIGN" value="-"/>
<define name="RM3100_CHAN_Y_SIGN" value="-"/>
<define name="RM3100_CHAN_Z_SIGN" value="+"/>
</module>
<!-- Internal IST8310 -->
<!--module name="mag_ist8310">
<define name="MODULE_IST8310_UPDATE_AHRS" value="TRUE"/>
<configure name="MAG_IST8310_I2C_DEV" value="I2C3"/>
<define name="IST8310_CHAN_X_SIGN" value="+"/>
<define name="IST8310_CHAN_Y_SIGN" value="-"/>
<define name="IST8310_CHAN_Z_SIGN" value="-"/>
</module>
</module-->
<!-- Logger -->
<define name="SDLOG_ENABLE_LOWBAT_FLUSH" value="FALSE"/>
@@ -61,8 +92,8 @@
</firmware>
<servos>
<servo name="MOTOR" no="1" min="1090" neutral="1110" max="1870"/>
<servo name="ELEVATOR" no="3" min="1600" neutral="1300" max="950"/>
<servo name="MOTOR" no="1" min="1000" neutral="1000" max="2000"/>
<servo name="ELEVATOR" no="3" min="2000" neutral="1500" max="1000"/>
<servo name="RUDDER" no="4" min="2000" neutral="1500" max="1000"/>
</servos>
@@ -85,7 +116,7 @@
</command_laws>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.85"/>
<define name="MAX_ROLL" value="0.95"/>
<define name="MAX_PITCH" value="0.6"/>
</section>
@@ -98,24 +129,33 @@
<define name="MPU_Y_SIGN" value="-1"/>
<define name="MPU_Z_SIGN" value="1"/>
<!-- Calibrated 2022-08-30 (Next to cyberzoo body only) -->
<define name="ACCEL_X_NEUTRAL" value="712"/>
<define name="ACCEL_Y_NEUTRAL" value="-69"/>
<define name="ACCEL_Z_NEUTRAL" value="37"/>
<define name="ACCEL_X_SENS" value="4.3946795784709405" integer="16"/>
<define name="ACCEL_Y_SENS" value="4.892643085453153" integer="16"/>
<define name="ACCEL_Z_SENS" value="4.82814860878492" integer="16"/>
<!-- Calibrated (var/logs/25_06_16__10_57_24.data) -->
<define name="ACCEL_X_NEUTRAL" value="716"/>
<define name="ACCEL_Y_NEUTRAL" value="-68"/>
<define name="ACCEL_Z_NEUTRAL" value="-158"/>
<define name="ACCEL_X_SENS" value="4.377166124505559" integer="16"/>
<define name="ACCEL_Y_SENS" value="4.876216351543897" integer="16"/>
<define name="ACCEL_Z_SENS" value="4.4096050869220775" integer="16"/>
<!-- internal MAG -->
<!--define name="MAG_X_NEUTRAL" value="4"/>
<define name="MAG_Y_NEUTRAL" value="77"/>
<define name="MAG_Z_NEUTRAL" value="-98"/>
<define name="MAG_X_SENS" value="12.994669838304425" integer="16"/>
<define name="MAG_Y_SENS" value="12.618735647774928" integer="16"/>
<define name="MAG_Z_SENS" value="12.877707635616835" integer="16"/-->
<!-- external MAG (var/logs/25_06_17__12_45_03.data) -->
<define name="MAG_X_NEUTRAL" value="1434"/>
<define name="MAG_Y_NEUTRAL" value="-1086"/>
<define name="MAG_Z_NEUTRAL" value="-1024"/>
<define name="MAG_X_SENS" value="0.5852305011888581" integer="16"/>
<define name="MAG_Y_SENS" value="0.5921856694657103" integer="16"/>
<define name="MAG_Z_SENS" value="0.5868335994838455" integer="16"/>
<define name="MAG_X_NEUTRAL" value="96"/>
<define name="MAG_Y_NEUTRAL" value="7"/>
<define name="MAG_Z_NEUTRAL" value="71"/>
<define name="MAG_X_SENS" value="12.969012324781003" integer="16"/>
<define name="MAG_Y_SENS" value="12.93272866894083" integer="16"/>
<define name="MAG_Z_SENS" value="13.211883046446026" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="0" unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0" unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0.0" unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="4" unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0" unit="deg"/>
</section>
<!--section name="AHRS" prefix="AHRS_">
@@ -134,14 +174,16 @@
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="BAT_NB_CELLS" value="4"/>
<!--define name="MilliAmpereOfAdc(_adc)" value="(_adc-632)*4.14"/-->
<define name="VoltageOfAdc(adc)" value="((3.3f/4096.0f) * 12.06741927012f * adc)"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="CARROT" value="7." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="100."/>
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
@@ -157,7 +199,7 @@
<define name="AUTO_CLIMB_LIMIT" value="2*V_CTL_ALTITUDE_MAX_CLIMB"/>
<!-- Cruise throttle + limits -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.4"/>
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.1"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
@@ -202,7 +244,7 @@
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="0.743"/>
<define name="COURSE_TAU" value="0.5"/>
<define name="ROLL_MAX_SETPOINT" value="30." unit="deg"/>
<define name="ROLL_MAX_SETPOINT" value="35." unit="deg"/>
<define name="PITCH_MAX_SETPOINT" value="30." unit="deg"/>
<define name="PITCH_MIN_SETPOINT" value="-30." unit="deg"/>
@@ -246,13 +288,18 @@
<define name="DESCENT_NAV_RATIO" value="1.0"/>
</section>
<section name="SIMU">
<!-- <section name="SIMU">
<define name="ROLL_RESPONSE_FACTOR" value="20"/>
<define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/>
<!--define name="JSBSIM_INIT" value="&quot;Malolo1-IC&quot;"/-->
<define name="JSBSIM_LAUNCHSPEED" value="15.0"/>
<define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.)"/>
<define name="JSBSIM_IR_PITCH_NEUTRAL" value="RadOfDeg(0.)"/>
</section> -->
<section name="SIMULATOR" prefix="NPS_">
<define name="JSBSIM_LAUNCHSPEED" value="15"/>
<define name="JSBSIM_MODEL" value="easystar" type="string"/>
<define name="JS_AXIS_MODE" value="4"/>
</section>
</airframe>
conf/modules/gps.xml
+3
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@@ -9,6 +9,7 @@
</description>
<configure name="GPS_LED" value="2" description="LED number to indicate fix or none"/>
<define name="GPS_POS_BROADCAST" value="FALSE|TRUE" description="Broadcast GPS position instead of sending it to the ground station only. This requires to use PPRZLINK version 2 and a capable modem"/>
<define name="GPS_LOSS_TEST_TIMER" value="FALSE|TRUE" description="If defined TRUE, this allows the GPS module to simulate GPS loss for a few seconds for testing purposes."/>
</doc>
<settings>
@@ -20,6 +21,7 @@
<strip_button name="GPS PRIMARY" icon="gps1.png" value="1" group="gps_mode_setting"/>
<strip_button name="GPS SECONDARY" icon="gps2.png" value="2" group="gps_mode_setting"/> -->
</dl_setting>
<dl_setting var="gps_disable_fix" min="0" step="1" max="180" shortname="disable_fix"/>
</dl_settings>
</dl_settings>
</settings>
@@ -28,6 +30,7 @@
<file name="gps.h"/>
</header>
<init fun="gps_init()"/>
<periodic fun="gps_periodic_fix_counter()" freq="1.0"/>
<datalink message="GPS_INJECT" fun="gps_parse_GPS_INJECT(buf)"/>
<datalink message="RTCM_INJECT" fun="gps_parse_RTCM_INJECT(buf)"/>
sw/airborne/modules/gps/gps.c
+27 -1
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@@ -80,6 +80,17 @@ static uint8_t current_gps_id = GpsId(PRIMARY_GPS);
#endif
uint8_t multi_gps_mode;
int gps_disable_fix = 0; ///< Disable fix
void gps_periodic_fix_counter(void) {
#if GPS_LOSS_TEST_TIMER
if (gps_disable_fix > 0) {
gps_disable_fix--;
}
#else
gps_disable_fix = 0; // reset disable fix counter
#endif
}
#if PREFLIGHT_CHECKS
/* Preflight checks */
@@ -141,7 +152,7 @@ static inline void send_svinfo_available(struct transport_tx *trans, struct link
static void send_gps(struct transport_tx *trans, struct link_device *dev)
{
uint8_t zero = 0;
uint8_t zero = (gps_disable_fix <= 0)? 0 : gps_disable_fix;
int16_t climb = -gps.ned_vel.z;
int16_t course = (DegOfRad(gps.course) / ((int32_t)1e6));
struct UtmCoor_i utm = utm_int_from_gps(&gps, 0);
@@ -313,16 +324,30 @@ static void gps_cb(uint8_t sender_id,
if (sender_id == GPS_MULTI_ID) {
return;
}
uint8_t old_fix = gps_s->fix;
uint32_t now_ts = get_sys_time_usec();
#ifdef SECONDARY_GPS
current_gps_id = gps_multi_switch(gps_s);
if (gps_s->comp_id == current_gps_id) {
gps = *gps_s;
#if GPS_LOSS_TEST_TIMER
if(gps_disable_fix > 0) {
gps_s->fix = GPS_FIX_NONE;
}
#endif
AbiSendMsgGPS(GPS_MULTI_ID, now_ts, gps_s);
gps_s->fix = old_fix;
}
#else
gps = *gps_s;
#if GPS_LOSS_TEST_TIMER
if(gps_disable_fix > 0) {
gps_s->fix = GPS_FIX_NONE;
}
#endif
AbiSendMsgGPS(GPS_MULTI_ID, now_ts, gps_s);
gps_s->fix = old_fix;
#endif
if (gps.tow != gps_time_sync.t0_tow) {
gps_time_sync.t0_ticks = sys_time.nb_tick;
@@ -363,6 +388,7 @@ void gps_init(void)
gps.last_3dfix_time = 0;
gps.last_msg_ticks = 0;
gps.last_msg_time = 0;
gps_disable_fix = 0;
#ifdef GPS_POWER_GPIO
gpio_setup_output(GPS_POWER_GPIO);
sw/airborne/modules/gps/gps.h
+3
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@@ -72,6 +72,9 @@ extern "C" {
extern uint8_t multi_gps_mode;
extern int gps_disable_fix; ///< Disable fix
void gps_periodic_fix_counter(void); ///< Increment periodic counter
/** data structure for Space Vehicle Information of a single satellite */
struct SVinfo {