Pixhawk / Ardupilot + Reach integration, no HDOP or satcount

Amilcar_Lucas · May 20, 2018, 11:33am

Take a look at:

GCS_MAVLINK::try_send_gps_message(const enum ap_message id)
calls
AP_GPS::send_mavlink_gps_rtk(mavlink_channel_t chan, uint8_t inst)
And that one only calls this one:
AP_GPS_Backend::send_mavlink_gps_rtk(mavlink_channel_t chan)
if supports_mavlink_gps_rtk_message() is set to true

rrr6399 · May 20, 2018, 11:33pm

I don’t see anything specific to the RTK for GPS2_RAW Messages that contains the dop and nsats values:

github.com

ArduPilot/ardupilot/blob/master/libraries/GCS_MAVLink/GCS_Common.cpp#L2668


      
          
          
    mavlink_msg_local_position_ned_send(
                  chan,
                  AP_HAL::millis(),
                  local_position.x,
                  local_position.y,
                  local_position.z,
                  velocity.x,
                  velocity.y,
                  velocity.z);
          }
          
          
/*
            send VIBRATION message
           */
          void GCS_MAVLINK::send_vibration() const
          {
          #if AP_INERTIALSENSOR_ENABLED
              const AP_InertialSensor &ins = AP::ins();
          
          
    Vector3f vibration = ins.get_vibration_levels();

github.com

ArduPilot/ardupilot/blob/master/libraries/AP_GPS/AP_GPS.cpp#L942


      
                  }
              } else {
                  if (state[instance].corrected_timestamp_updated) {
                      // set the timestamp for this messages based on
                      // set_uart_timestamp() or per specific transport in backend
                      // , if available
                      tnow = state[instance].last_corrected_gps_time_us/1000U;
                      state[instance].corrected_timestamp_updated = false;
                  }
                  // delta will only be correct after parsing two messages
                  timing[instance].delta_time_ms = tnow - timing[instance].last_message_time_ms;
                  timing[instance].last_message_time_ms = tnow;
                  // if GPS disabled for flight testing then don't update fix timing value
                  if (state[instance].status >= GPS_OK_FIX_2D && !_force_disable_gps) {
                      timing[instance].last_fix_time_ms = tnow;
                  }
          
          
        data_should_be_logged = true;
              }
          
          
#if GPS_MAX_RECEIVERS > 1

rrr6399 · May 21, 2018, 4:52pm

I added some debug statements to the ERB driver to see if the nsats and dop values are coming in when there are no measurements. I’ll let you know what I found out after my testing.

rrr6399 · May 30, 2018, 5:41pm

@Amilcar_Lucas I added some debug statements in the ERB driver and verified that the nsats and dop values are zero until measurements are sent from the base. So it looks like the Reach is not sending the nsats or dop value until it is in Floating Fix mode.

https://github.com/rrr6399/ardupilot/blob/m8p-rtk-message/libraries/AP_GPS/AP_GPS_ERB.cpp#L188

Amilcar_Lucas · May 30, 2018, 5:45pm

Nice, no need to change ArduPilot. Just need to wait for Emlid to fix their ERB code.

olioutfield · May 30, 2018, 9:52pm

@rrr6399 Thanks for putting the time into this!

system · September 7, 2018, 9:52pm

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