#include <AP_GPS.h>

Collaboration diagram for AP_GPS:

Classes
struct	detect_state

struct	GPS_State

struct	GPS_timing

struct	rtcm_buffer

Public Types
enum	GPS_Type { GPS_TYPE_NONE = 0, GPS_TYPE_AUTO = 1, GPS_TYPE_UBLOX = 2, GPS_TYPE_MTK = 3, GPS_TYPE_MTK19 = 4, GPS_TYPE_NMEA = 5, GPS_TYPE_SIRF = 6, GPS_TYPE_HIL = 7, GPS_TYPE_SBP = 8, GPS_TYPE_UAVCAN = 9, GPS_TYPE_SBF = 10, GPS_TYPE_GSOF = 11, GPS_TYPE_ERB = 13, GPS_TYPE_MAV = 14, GPS_TYPE_NOVA = 15 }

enum	GPS_Status { NO_GPS = GPS_FIX_TYPE_NO_GPS, NO_FIX = GPS_FIX_TYPE_NO_FIX, GPS_OK_FIX_2D = GPS_FIX_TYPE_2D_FIX, GPS_OK_FIX_3D = GPS_FIX_TYPE_3D_FIX, GPS_OK_FIX_3D_DGPS = GPS_FIX_TYPE_DGPS, GPS_OK_FIX_3D_RTK_FLOAT = GPS_FIX_TYPE_RTK_FLOAT, GPS_OK_FIX_3D_RTK_FIXED = GPS_FIX_TYPE_RTK_FIXED }
	GPS status codes. More...

enum	GPS_Engine_Setting { GPS_ENGINE_NONE = -1, GPS_ENGINE_PORTABLE = 0, GPS_ENGINE_STATIONARY = 2, GPS_ENGINE_PEDESTRIAN = 3, GPS_ENGINE_AUTOMOTIVE = 4, GPS_ENGINE_SEA = 5, GPS_ENGINE_AIRBORNE_1G = 6, GPS_ENGINE_AIRBORNE_2G = 7, GPS_ENGINE_AIRBORNE_4G = 8 }

enum	GPS_Config { GPS_ALL_CONFIGURED = 255 }

Public Member Functions
	AP_GPS ()

	AP_GPS (const AP_GPS &other)=delete

AP_GPS &	operator= (const AP_GPS &)=delete

void	init (const AP_SerialManager &serial_manager)
	Startup initialisation. More...

void	update (void)

void	handle_msg (const mavlink_message_t *msg)

uint8_t	num_sensors (void) const

uint8_t	primary_sensor (void) const

GPS_Status	status (uint8_t instance) const
	Query GPS status. More...

GPS_Status	status (void) const

GPS_Status	highest_supported_status (uint8_t instance) const

const Location &	location (uint8_t instance) const

const Location &	location () const

bool	speed_accuracy (uint8_t instance, float &sacc) const

bool	speed_accuracy (float &sacc) const

bool	horizontal_accuracy (uint8_t instance, float &hacc) const

bool	horizontal_accuracy (float &hacc) const

bool	vertical_accuracy (uint8_t instance, float &vacc) const

bool	vertical_accuracy (float &vacc) const

const Vector3f &	velocity (uint8_t instance) const

const Vector3f &	velocity () const

float	ground_speed (uint8_t instance) const

float	ground_speed () const

uint32_t	ground_speed_cm (void)

float	ground_course (uint8_t instance) const

float	ground_course () const

int32_t	ground_course_cd (uint8_t instance) const

int32_t	ground_course_cd () const

uint8_t	num_sats (uint8_t instance) const

uint8_t	num_sats () const

uint32_t	time_week_ms (uint8_t instance) const

uint32_t	time_week_ms () const

uint16_t	time_week (uint8_t instance) const

uint16_t	time_week () const

uint16_t	get_hdop (uint8_t instance) const

uint16_t	get_hdop () const

uint16_t	get_vdop (uint8_t instance) const

uint16_t	get_vdop () const

uint32_t	last_fix_time_ms (uint8_t instance) const

uint32_t	last_fix_time_ms (void) const

uint32_t	last_message_time_ms (uint8_t instance) const

uint32_t	last_message_time_ms (void) const

uint16_t	last_message_delta_time_ms (uint8_t instance) const

uint16_t	last_message_delta_time_ms (void) const

bool	have_vertical_velocity (uint8_t instance) const

bool	have_vertical_velocity (void) const

uint8_t	rtk_num_sats (uint8_t instance) const

uint8_t	rtk_num_sats (void) const

uint32_t	rtk_age_ms (uint8_t instance) const

uint32_t	rtk_age_ms (void) const

bool	get_lag (uint8_t instance, float &lag_sec) const

bool	get_lag (float &lag_sec) const

const Vector3f &	get_antenna_offset (uint8_t instance) const

void	setHIL (uint8_t instance, GPS_Status status, uint64_t time_epoch_ms, const Location &location, const Vector3f &velocity, uint8_t num_sats, uint16_t hdop)

void	setHIL_Accuracy (uint8_t instance, float vdop, float hacc, float vacc, float sacc, bool _have_vertical_velocity, uint32_t sample_ms)

void	lock_port (uint8_t instance, bool locked)

void	send_mavlink_gps_raw (mavlink_channel_t chan)

void	send_mavlink_gps2_raw (mavlink_channel_t chan)

void	send_mavlink_gps_rtk (mavlink_channel_t chan, uint8_t inst)

uint8_t	first_unconfigured_gps (void) const

void	broadcast_first_configuration_failure_reason (void) const

bool	all_configured (void) const

bool	all_consistent (float &distance) const

bool	blend_health_check () const

void	send_blob_start (uint8_t instance, const char *_blob, uint16_t size)

void	send_blob_update (uint8_t instance)

uint64_t	time_epoch_usec (uint8_t instance) const

uint64_t	time_epoch_usec (void) const

void	Write_DataFlash_Log_Startup_messages ()

void	set_log_gps_bit (uint32_t bit)

bool	is_healthy (uint8_t instance) const

bool	is_healthy (void) const

bool	prepare_for_arming (void)

Static Public Member Functions
static AP_GPS &	gps ()

static uint64_t	time_epoch_convert (uint16_t gps_week, uint32_t gps_ms)

Static Public Attributes
static const struct AP_Param::GroupInfo	var_info []

Protected Attributes
AP_Int8	_type [GPS_MAX_RECEIVERS]

AP_Int8	_navfilter

AP_Int8	_auto_switch

AP_Int8	_min_dgps

AP_Int16	_sbp_logmask

AP_Int8	_inject_to

uint32_t	_last_instance_swap_ms

AP_Int8	_sbas_mode

AP_Int8	_min_elevation

AP_Int8	_raw_data

AP_Int8	_gnss_mode [GPS_MAX_RECEIVERS]

AP_Int16	_rate_ms [GPS_MAX_RECEIVERS]

AP_Int8	_save_config

AP_Int8	_auto_config

AP_Vector3f	_antenna_offset [GPS_MAX_RECEIVERS]

AP_Int16	_delay_ms [GPS_MAX_RECEIVERS]

AP_Int8	_blend_mask

AP_Float	_blend_tc

uint32_t	_log_gps_bit = -1

Private Types
enum	GPS_AUTO_CONFIG { GPS_AUTO_CONFIG_DISABLE = 0, GPS_AUTO_CONFIG_ENABLE = 1 }

Private Member Functions
uint16_t	get_rate_ms (uint8_t instance) const

void	detect_instance (uint8_t instance)

void	update_instance (uint8_t instance)

void	handle_gps_rtcm_data (const mavlink_message_t *msg)

void	handle_gps_inject (const mavlink_message_t *msg)

void	inject_data (uint8_t *data, uint16_t len)

void	inject_data (uint8_t instance, uint8_t *data, uint16_t len)

bool	calc_blend_weights (void)

void	calc_blended_state (void)

bool	should_df_log () const

Private Attributes
GPS_timing	timing [GPS_MAX_RECEIVERS+1]

GPS_State	state [GPS_MAX_RECEIVERS+1]

AP_GPS_Backend *	drivers [GPS_MAX_RECEIVERS]

AP_HAL::UARTDriver *	_port [GPS_MAX_RECEIVERS]

uint8_t	primary_instance:2
	primary GPS instance More...

uint8_t	num_instances:2
	number of GPS instances present More...

uint8_t	locked_ports:2

struct AP_GPS::detect_state	detect_state [GPS_MAX_RECEIVERS]

struct {
const char * blob

uint16_t remaining

}	initblob_state [GPS_MAX_RECEIVERS]

struct AP_GPS::rtcm_buffer *	rtcm_buffer

Vector2f	_NE_pos_offset_m [GPS_MAX_RECEIVERS]

float	_hgt_offset_cm [GPS_MAX_RECEIVERS]

Vector3f	_blended_antenna_offset

float	_blended_lag_sec = 0.001f * GPS_MAX_RATE_MS

float	_blend_weights [GPS_MAX_RECEIVERS]

uint32_t	_last_time_updated [GPS_MAX_RECEIVERS]

float	_omega_lpf

bool	_output_is_blended

uint8_t	_blend_health_counter

Static Private Attributes
static AP_GPS *	_singleton

static const uint32_t	_baudrates [] = {9600U, 115200U, 4800U, 19200U, 38400U, 57600U, 230400U}

static const char	_initialisation_blob [] = UBLOX_SET_BINARY MTK_SET_BINARY SIRF_SET_BINARY

static const char	_initialisation_raw_blob []

Friends
class	AP_GPS_ERB

class	AP_GPS_GSOF

class	AP_GPS_MAV

class	AP_GPS_MTK

class	AP_GPS_MTK19

class	AP_GPS_NMEA

class	AP_GPS_NOVA

class	AP_GPS_PX4

class	AP_GPS_SBF

class	AP_GPS_SBP

class	AP_GPS_SBP2

class	AP_GPS_SIRF

class	AP_GPS_UBLOX

class	AP_GPS_Backend

Detailed Description

GPS driver main class

Definition at line 48 of file AP_GPS.h.

Member Enumeration Documentation

◆ GPS_AUTO_CONFIG

enum AP_GPS::GPS_AUTO_CONFIG

private

Enumerator
GPS_AUTO_CONFIG_DISABLE
GPS_AUTO_CONFIG_ENABLE

Definition at line 555 of file AP_GPS.h.

◆ GPS_Config

enum AP_GPS::GPS_Config

Enumerator
GPS_ALL_CONFIGURED

Definition at line 120 of file AP_GPS.h.

◆ GPS_Engine_Setting

enum AP_GPS::GPS_Engine_Setting

Enumerator
GPS_ENGINE_NONE
GPS_ENGINE_PORTABLE
GPS_ENGINE_STATIONARY
GPS_ENGINE_PEDESTRIAN
GPS_ENGINE_AUTOMOTIVE
GPS_ENGINE_SEA
GPS_ENGINE_AIRBORNE_1G
GPS_ENGINE_AIRBORNE_2G
GPS_ENGINE_AIRBORNE_4G

Definition at line 108 of file AP_GPS.h.

◆ GPS_Status

enum AP_GPS::GPS_Status

GPS status codes.

Enumerator
NO_GPS	No GPS connected/detected.
NO_FIX	Receiving valid GPS messages but no lock.
GPS_OK_FIX_2D	Receiving valid messages and 2D lock.
GPS_OK_FIX_3D	Receiving valid messages and 3D lock.
GPS_OK_FIX_3D_DGPS	Receiving valid messages and 3D lock with differential improvements.
GPS_OK_FIX_3D_RTK_FLOAT	Receiving valid messages and 3D RTK Float.
GPS_OK_FIX_3D_RTK_FIXED	Receiving valid messages and 3D RTK Fixed.

Definition at line 96 of file AP_GPS.h.

◆ GPS_Type

enum AP_GPS::GPS_Type

Enumerator
GPS_TYPE_NONE
GPS_TYPE_AUTO
GPS_TYPE_UBLOX
GPS_TYPE_MTK
GPS_TYPE_MTK19
GPS_TYPE_NMEA
GPS_TYPE_SIRF
GPS_TYPE_HIL
GPS_TYPE_SBP
GPS_TYPE_UAVCAN
GPS_TYPE_SBF
GPS_TYPE_GSOF
GPS_TYPE_ERB
GPS_TYPE_MAV
GPS_TYPE_NOVA

Definition at line 77 of file AP_GPS.h.

Constructor & Destructor Documentation

◆ AP_GPS() [1/2]

AP_GPS::AP_GPS ( )

Definition at line 265 of file AP_GPS.cpp.

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◆ AP_GPS() [2/2]

AP_GPS::AP_GPS ( const AP_GPS & other )

delete

Member Function Documentation

◆ all_configured()

bool AP_GPS::all_configured ( void ) const

inline

Definition at line 381 of file AP_GPS.h.

Referenced by get_lag().

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◆ all_consistent()

bool AP_GPS::all_consistent ( float & distance ) const

Definition at line 1002 of file AP_GPS.cpp.

Referenced by all_configured(), and AP_Arming::gps_checks().

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◆ blend_health_check()

bool AP_GPS::blend_health_check ( ) const

Definition at line 1018 of file AP_GPS.cpp.

Referenced by all_configured(), and AP_Arming::gps_checks().

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◆ broadcast_first_configuration_failure_reason()

void AP_GPS::broadcast_first_configuration_failure_reason ( void ) const

Definition at line 991 of file AP_GPS.cpp.

Referenced by get_lag(), and AP_Arming::gps_checks().

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◆ calc_blend_weights()

bool AP_GPS::calc_blend_weights ( void )

private

Definition at line 1165 of file AP_GPS.cpp.

Referenced by update().

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◆ calc_blended_state()

void AP_GPS::calc_blended_state ( void )

private

Definition at line 1327 of file AP_GPS.cpp.

Referenced by update().

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◆ detect_instance()

void AP_GPS::detect_instance ( uint8_t instance )

private

Definition at line 408 of file AP_GPS.cpp.

Referenced by update_instance().

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◆ first_unconfigured_gps()

uint8_t AP_GPS::first_unconfigured_gps ( void ) const

Definition at line 981 of file AP_GPS.cpp.

Referenced by all_configured(), broadcast_first_configuration_failure_reason(), get_lag(), and AP_Arming::gps_checks().

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◆ get_antenna_offset()

const Vector3f & AP_GPS::get_antenna_offset ( uint8_t instance ) const

Definition at line 1137 of file AP_GPS.cpp.

Referenced by get_lag(), NavEKF2_core::SelectVelPosFusion(), and NavEKF3_core::SelectVelPosFusion().

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◆ get_hdop() [1/2]

uint16_t AP_GPS::get_hdop ( uint8_t instance ) const

inline

Definition at line 284 of file AP_GPS.h.

Referenced by AP_Frsky_Telem::calc_gps_status(), NavEKF2_core::calcGpsGoodToAlign(), NavEKF3_core::calcGpsGoodToAlign(), and DataFlash_Class::Log_Write_GPS().

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◆ get_hdop() [2/2]

uint16_t AP_GPS::get_hdop ( ) const

inline

Definition at line 287 of file AP_GPS.h.

Referenced by send_mavlink_gps2_raw(), and send_mavlink_gps_raw().

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◆ get_lag() [1/2]

bool AP_GPS::get_lag	(	uint8_t	instance,
		float &	lag_sec
	)		const

Definition at line 1107 of file AP_GPS.cpp.

Referenced by calc_blended_state(), get_lag(), AP_AHRS_DCM::get_position(), NavEKF3_core::readGpsData(), and rtk_age_ms().

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◆ get_lag() [2/2]

bool AP_GPS::get_lag ( float & lag_sec ) const

inline

Definition at line 352 of file AP_GPS.h.

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◆ get_rate_ms()

uint16_t AP_GPS::get_rate_ms ( uint8_t instance ) const

private

Definition at line 1153 of file AP_GPS.cpp.

Referenced by AP_GPS_UBLOX::_configure_rate(), and calc_blend_weights().

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◆ get_vdop() [1/2]

uint16_t AP_GPS::get_vdop ( uint8_t instance ) const

inline

Definition at line 292 of file AP_GPS.h.

Referenced by DataFlash_Class::Log_Write_GPS().

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◆ get_vdop() [2/2]

uint16_t AP_GPS::get_vdop ( ) const

inline

Definition at line 295 of file AP_GPS.h.

Referenced by send_mavlink_gps2_raw(), and send_mavlink_gps_raw().

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◆ gps()

static AP_GPS& AP_GPS::gps ( )

inlinestatic

Definition at line 72 of file AP_GPS.h.

Referenced by AP::gps().

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◆ ground_course() [1/2]

float AP_GPS::ground_course ( uint8_t instance ) const

inline

Definition at line 245 of file AP_GPS.h.

Referenced by DataFlash_Class::Log_Write_GPS().

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◆ ground_course() [2/2]

float AP_GPS::ground_course ( ) const

inline

Definition at line 248 of file AP_GPS.h.

Referenced by send_mavlink_gps2_raw(), and send_mavlink_gps_raw().

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◆ ground_course_cd() [1/2]

int32_t AP_GPS::ground_course_cd ( uint8_t instance ) const

inline

Definition at line 252 of file AP_GPS.h.

Referenced by AP_AHRS_DCM::drift_correction_yaw(), AR_AttitudeControl::get_forward_speed(), AP_AHRS_DCM::get_position(), and loop().

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◆ ground_course_cd() [2/2]

int32_t AP_GPS::ground_course_cd ( ) const

inline

Definition at line 255 of file AP_GPS.h.

◆ ground_speed() [1/2]

float AP_GPS::ground_speed ( uint8_t instance ) const

inline

Definition at line 232 of file AP_GPS.h.

Referenced by AP_AHRS_NavEKF::active_EKF_type(), AP_AHRS_DCM::airspeed_estimate(), AP_AHRS::airspeed_estimate(), AP_Frsky_Telem::calc_gps_position(), AP_AHRS_DCM::drift_correction(), AP_AHRS_DCM::drift_correction_yaw(), AR_AttitudeControl::get_forward_speed(), AP_AHRS_DCM::get_position(), AP_AHRS::groundspeed_vector(), DataFlash_Class::Log_Write_GPS(), loop(), AP_DEVO_Telem::send_frames(), AP_AHRS_DCM::use_compass(), and GCS_MAVLINK::vfr_hud_airspeed().

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◆ ground_speed() [2/2]

float AP_GPS::ground_speed ( ) const

inline

Definition at line 235 of file AP_GPS.h.

Referenced by send_mavlink_gps2_raw(), and send_mavlink_gps_raw().

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◆ ground_speed_cm()

uint32_t AP_GPS::ground_speed_cm ( void )

inline

Definition at line 240 of file AP_GPS.h.

◆ handle_gps_inject()

void AP_GPS::handle_gps_inject ( const mavlink_message_t * msg )

private

Definition at line 777 of file AP_GPS.cpp.

Referenced by handle_msg().

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◆ handle_gps_rtcm_data()

void AP_GPS::handle_gps_rtcm_data ( const mavlink_message_t * msg )

private

Definition at line 1026 of file AP_GPS.cpp.

Referenced by handle_msg().

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◆ handle_msg()

void AP_GPS::handle_msg ( const mavlink_message_t * msg )

Definition at line 789 of file AP_GPS.cpp.

Referenced by GCS_MAVLINK::handle_common_gps_message().

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◆ have_vertical_velocity() [1/2]

bool AP_GPS::have_vertical_velocity ( uint8_t instance ) const

inline

Definition at line 326 of file AP_GPS.h.

Referenced by NavEKF2_core::calcGpsGoodToAlign(), NavEKF3_core::calcGpsGoodToAlign(), DataFlash_Class::Log_Write_GPS(), NavEKF2_core::readGpsData(), and NavEKF3_core::readGpsData().

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◆ have_vertical_velocity() [2/2]

bool AP_GPS::have_vertical_velocity ( void ) const

inline

Definition at line 329 of file AP_GPS.h.

Referenced by calc_blended_state().

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◆ highest_supported_status()

AP_GPS::GPS_Status AP_GPS::highest_supported_status ( uint8_t instance ) const

Definition at line 571 of file AP_GPS.cpp.

Referenced by status().

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◆ horizontal_accuracy() [1/2]

bool AP_GPS::horizontal_accuracy	(	uint8_t	instance,
		float &	hacc
	)		const

Definition at line 325 of file AP_GPS.cpp.

Referenced by calc_blend_weights(), calc_blended_state(), NavEKF2_core::calcGpsGoodToAlign(), NavEKF3_core::calcGpsGoodToAlign(), DataFlash_Class::Log_Write_GPS(), NavEKF2_core::readGpsData(), NavEKF3_core::readGpsData(), AP_ADSB::send_dynamic_out(), and send_mavlink_gps_raw().

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◆ horizontal_accuracy() [2/2]

bool AP_GPS::horizontal_accuracy ( float & hacc ) const

inline

Definition at line 214 of file AP_GPS.h.

◆ init()

void AP_GPS::init ( const AP_SerialManager & serial_manager )

Startup initialisation.

Definition at line 279 of file AP_GPS.cpp.

Referenced by setup().

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◆ inject_data() [1/2]

void AP_GPS::inject_data	(	uint8_t *	data,
		uint16_t	len
	)

private

Definition at line 880 of file AP_GPS.cpp.

Referenced by handle_gps_inject(), and handle_gps_rtcm_data().

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◆ inject_data() [2/2]

void AP_GPS::inject_data	(	uint8_t	instance,
		uint8_t *	data,
		uint16_t	len
	)

private

Definition at line 892 of file AP_GPS.cpp.

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◆ is_healthy() [1/2]

bool AP_GPS::is_healthy ( uint8_t instance ) const

Definition at line 1532 of file AP_GPS.cpp.

Referenced by AP_Arming::gps_checks().

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◆ is_healthy() [2/2]

bool AP_GPS::is_healthy ( void ) const

inline

Definition at line 414 of file AP_GPS.h.

Referenced by is_healthy(), and set_log_gps_bit().

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◆ last_fix_time_ms() [1/2]

uint32_t AP_GPS::last_fix_time_ms ( uint8_t instance ) const

inline

Definition at line 301 of file AP_GPS.h.

Referenced by AP_AdvancedFailsafe::check(), AP_AHRS_DCM::drift_correction(), and AP_AHRS_DCM::drift_correction_yaw().

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◆ last_fix_time_ms() [2/2]

uint32_t AP_GPS::last_fix_time_ms ( void ) const

inline

Definition at line 304 of file AP_GPS.h.

Referenced by calc_blended_state(), send_mavlink_gps2_raw(), and send_mavlink_gps_raw().

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◆ last_message_delta_time_ms() [1/2]

uint16_t AP_GPS::last_message_delta_time_ms ( uint8_t instance ) const

inline

Definition at line 318 of file AP_GPS.h.

Referenced by DataFlash_Class::Log_Write_GPS().

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◆ last_message_delta_time_ms() [2/2]

uint16_t AP_GPS::last_message_delta_time_ms ( void ) const

inline

Definition at line 321 of file AP_GPS.h.

Referenced by is_healthy().

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◆ last_message_time_ms() [1/2]

uint32_t AP_GPS::last_message_time_ms ( uint8_t instance ) const

inline

Definition at line 310 of file AP_GPS.h.

Referenced by DataFlash_Class::Log_Write_GPS(), loop(), NavEKF2_core::readGpsData(), and NavEKF3_core::readGpsData().

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◆ last_message_time_ms() [2/2]

uint32_t AP_GPS::last_message_time_ms ( void ) const

inline

Definition at line 313 of file AP_GPS.h.

Referenced by calc_blended_state(), send_mavlink_gps2_raw(), send_mavlink_gps_raw(), and update_instance().

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◆ location() [1/2]

const Location& AP_GPS::location ( uint8_t instance ) const

inline

Definition at line 200 of file AP_GPS.h.

Referenced by AP_Frsky_Telem::calc_gps_latlng(), AP_Frsky_Telem::calc_gps_position(), AP_Frsky_Telem::calc_gps_status(), NavEKF2_core::calcGpsGoodToAlign(), NavEKF3_core::calcGpsGoodToAlign(), AP_AdvancedFailsafe::check_altlimit(), AP_AHRS_DCM::drift_correction(), NavEKF2_core::getLLH(), NavEKF3_core::getLLH(), NavEKF2_core::getPosNE(), NavEKF3_core::getPosNE(), AP_Arming::gps_checks(), DataFlash_Class::Log_Write_CameraInfo(), DataFlash_Class::Log_Write_GPS(), loop(), NavEKF2_core::readGpsData(), NavEKF3_core::readGpsData(), NavEKF2_core::setOrigin(), and NavEKF3_core::setOrigin().

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◆ location() [2/2]

const Location& AP_GPS::location ( ) const

inline

Definition at line 203 of file AP_GPS.h.

Referenced by all_consistent(), calc_blended_state(), send_mavlink_gps2_raw(), and send_mavlink_gps_raw().

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◆ lock_port()

void AP_GPS::lock_port	(	uint8_t	instance,
		bool	lock
	)

Lock a GPS port, preventing the GPS driver from using it. This can be used to allow a user to control a GPS port via the SERIAL_CONTROL protocol

Definition at line 866 of file AP_GPS.cpp.

Referenced by get_lag(), and GCS_MAVLINK::handle_serial_control().

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◆ num_sats() [1/2]

uint8_t AP_GPS::num_sats ( uint8_t instance ) const

inline

Definition at line 260 of file AP_GPS.h.

Referenced by AP_Frsky_Telem::calc_gps_status(), NavEKF2_core::calcGpsGoodToAlign(), NavEKF3_core::calcGpsGoodToAlign(), AP_AHRS_DCM::drift_correction(), DataFlash_Class::Log_Write_GPS(), loop(), NavEKF2_core::readGpsData(), NavEKF3_core::readGpsData(), and AP_ADSB::send_dynamic_out().

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◆ num_sats() [2/2]

uint8_t AP_GPS::num_sats ( ) const

inline

Definition at line 263 of file AP_GPS.h.

Referenced by calc_blended_state(), send_mavlink_gps2_raw(), send_mavlink_gps_raw(), and update().

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◆ num_sensors()

uint8_t AP_GPS::num_sensors ( void ) const

Definition at line 307 of file AP_GPS.cpp.

◆ operator=()

AP_GPS& AP_GPS::operator= ( const AP_GPS & )

delete

◆ prepare_for_arming()

bool AP_GPS::prepare_for_arming ( void )

Definition at line 1538 of file AP_GPS.cpp.

Referenced by is_healthy().

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◆ primary_sensor()

uint8_t AP_GPS::primary_sensor ( void ) const

inline

Definition at line 184 of file AP_GPS.h.

Referenced by DataFlash_Class::Log_Write_GPS(), NavEKF2_core::readGpsData(), and NavEKF3_core::readGpsData().

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◆ rtk_age_ms() [1/2]

uint32_t AP_GPS::rtk_age_ms ( uint8_t instance ) const

inline

Definition at line 342 of file AP_GPS.h.

◆ rtk_age_ms() [2/2]

uint32_t AP_GPS::rtk_age_ms ( void ) const

inline

Definition at line 345 of file AP_GPS.h.

Referenced by send_mavlink_gps2_raw().

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◆ rtk_num_sats() [1/2]

uint8_t AP_GPS::rtk_num_sats ( uint8_t instance ) const

inline

Definition at line 334 of file AP_GPS.h.

◆ rtk_num_sats() [2/2]

uint8_t AP_GPS::rtk_num_sats ( void ) const

inline

Definition at line 337 of file AP_GPS.h.

Referenced by send_mavlink_gps2_raw().

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◆ send_blob_start()

void AP_GPS::send_blob_start	(	uint8_t	instance,
		const char *	_blob,
		uint16_t	size
	)

Definition at line 371 of file AP_GPS.cpp.

Referenced by all_configured(), AP_GPS_MTK::AP_GPS_MTK(), AP_GPS_SIRF::AP_GPS_SIRF(), AP_GPS_UBLOX::AP_GPS_UBLOX(), detect_instance(), and AP_GPS_MTK::send_init_blob().

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◆ send_blob_update()

void AP_GPS::send_blob_update ( uint8_t instance )

Definition at line 381 of file AP_GPS.cpp.

Referenced by all_configured(), detect_instance(), and update_instance().

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◆ send_mavlink_gps2_raw()

void AP_GPS::send_mavlink_gps2_raw ( mavlink_channel_t chan )

Definition at line 942 of file AP_GPS.cpp.

Referenced by get_lag(), and GCS_MAVLINK::try_send_gps_message().

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◆ send_mavlink_gps_raw()

void AP_GPS::send_mavlink_gps_raw ( mavlink_channel_t chan )

Definition at line 899 of file AP_GPS.cpp.

Referenced by get_lag(), and GCS_MAVLINK::try_send_gps_message().

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◆ send_mavlink_gps_rtk()

void AP_GPS::send_mavlink_gps_rtk	(	mavlink_channel_t	chan,
		uint8_t	inst
	)

Definition at line 971 of file AP_GPS.cpp.

Referenced by get_lag(), and GCS_MAVLINK::try_send_gps_message().

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◆ set_log_gps_bit()

void AP_GPS::set_log_gps_bit ( uint32_t bit )

inline

Definition at line 409 of file AP_GPS.h.

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◆ setHIL()

void AP_GPS::setHIL	(	uint8_t	instance,
		GPS_Status	status,
		uint64_t	time_epoch_ms,
		const Location &	location,
		const Vector3f &	velocity,
		uint8_t	num_sats,
		uint16_t	hdop
	)

Definition at line 814 of file AP_GPS.cpp.

Referenced by get_lag().

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◆ setHIL_Accuracy()

void AP_GPS::setHIL_Accuracy	(	uint8_t	instance,
		float	vdop,
		float	hacc,
		float	vacc,
		float	sacc,
		bool	_have_vertical_velocity,
		uint32_t	sample_ms
	)

Definition at line 841 of file AP_GPS.cpp.

Referenced by get_lag().

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◆ should_df_log()

bool AP_GPS::should_df_log ( ) const

private

Definition at line 579 of file AP_GPS.cpp.

Referenced by AP_GPS_Backend::should_df_log(), and update_instance().

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◆ speed_accuracy() [1/2]

bool AP_GPS::speed_accuracy	(	uint8_t	instance,
		float &	sacc
	)		const

Definition at line 316 of file AP_GPS.cpp.

Referenced by calc_blend_weights(), calc_blended_state(), DataFlash_Class::Log_Write_GPS(), NavEKF2_core::readGpsData(), NavEKF3_core::readGpsData(), AP_ADSB::send_dynamic_out(), and send_mavlink_gps_raw().

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◆ speed_accuracy() [2/2]

bool AP_GPS::speed_accuracy ( float & sacc ) const

inline

Definition at line 209 of file AP_GPS.h.

◆ status() [1/2]

GPS_Status AP_GPS::status ( uint8_t instance ) const

inline

Query GPS status.

Definition at line 189 of file AP_GPS.h.

Referenced by AP_AHRS_NavEKF::active_EKF_type(), AP_Frsky_Telem::calc_gps_status(), NavEKF2_core::calcGpsGoodToAlign(), NavEKF3_core::calcGpsGoodToAlign(), AP_AdvancedFailsafe::check_altlimit(), AP_AHRS_DCM::drift_correction(), AR_AttitudeControl::get_forward_speed(), NavEKF2_core::getLLH(), NavEKF3_core::getLLH(), AP_Arming::gps_checks(), AP_AHRS::groundspeed_vector(), DataFlash_Class::Log_Write_CameraInfo(), DataFlash_Class::Log_Write_GPS(), loop(), NavEKF2_core::readGpsData(), NavEKF3_core::readGpsData(), and AP_ADSB::send_dynamic_out().

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◆ status() [2/2]

GPS_Status AP_GPS::status ( void ) const

inline

Definition at line 192 of file AP_GPS.h.

Referenced by calc_blend_weights(), calc_blended_state(), get_lag(), send_mavlink_gps2_raw(), send_mavlink_gps_raw(), update(), update_instance(), and Write_DataFlash_Log_Startup_messages().

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◆ time_epoch_convert()

uint64_t AP_GPS::time_epoch_convert	(	uint16_t	gps_week,
		uint32_t	gps_ms
	)

static

convert GPS week and milliseconds to unix epoch in milliseconds

Definition at line 347 of file AP_GPS.cpp.

Referenced by time_epoch_usec().

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◆ time_epoch_usec() [1/2]

uint64_t AP_GPS::time_epoch_usec ( uint8_t instance ) const

calculate current time since the unix epoch in microseconds

Definition at line 356 of file AP_GPS.cpp.

Referenced by AP_ADSB::genICAO(), and AP_ADSB::send_dynamic_out().

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◆ time_epoch_usec() [2/2]

uint64_t AP_GPS::time_epoch_usec ( void ) const

inline

Definition at line 397 of file AP_GPS.h.

Referenced by all_configured().

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◆ time_week() [1/2]

uint16_t AP_GPS::time_week ( uint8_t instance ) const

inline

Definition at line 276 of file AP_GPS.h.

Referenced by DataFlash_Class::Log_Write_CameraInfo(), DataFlash_Class::Log_Write_GPS(), and loop().

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◆ time_week() [2/2]

uint16_t AP_GPS::time_week ( ) const

inline

Definition at line 279 of file AP_GPS.h.

Referenced by calc_blended_state().

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◆ time_week_ms() [1/2]

uint32_t AP_GPS::time_week_ms ( uint8_t instance ) const

inline

Definition at line 268 of file AP_GPS.h.

Referenced by DataFlash_Class::Log_Write_CameraInfo(), DataFlash_Class::Log_Write_GPS(), and loop().

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◆ time_week_ms() [2/2]

uint32_t AP_GPS::time_week_ms ( ) const

inline

Definition at line 271 of file AP_GPS.h.

Referenced by calc_blended_state().

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◆ update()

void AP_GPS::update ( void )

Update GPS state based on possible bytes received from the module. This routine must be called periodically (typically at 10Hz or more) to process incoming data.

Definition at line 678 of file AP_GPS.cpp.

Referenced by loop().

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◆ update_instance()

void AP_GPS::update_instance ( uint8_t instance )

private

Definition at line 598 of file AP_GPS.cpp.

Referenced by update().

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◆ velocity() [1/2]

const Vector3f& AP_GPS::velocity ( uint8_t instance ) const

inline

Definition at line 224 of file AP_GPS.h.

Referenced by AP_AHRS_DCM::drift_correction(), DataFlash_Class::Log_Write_GPS(), NavEKF2_core::readGpsData(), NavEKF3_core::readGpsData(), and AP_ADSB::send_dynamic_out().

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◆ velocity() [2/2]

const Vector3f& AP_GPS::velocity ( ) const

inline

Definition at line 227 of file AP_GPS.h.

Referenced by calc_blended_state().

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◆ vertical_accuracy() [1/2]

bool AP_GPS::vertical_accuracy	(	uint8_t	instance,
		float &	vacc
	)		const

Definition at line 334 of file AP_GPS.cpp.

Referenced by calc_blend_weights(), calc_blended_state(), NavEKF2_core::calcGpsGoodToAlign(), NavEKF3_core::calcGpsGoodToAlign(), DataFlash_Class::Log_Write_GPS(), NavEKF2_core::readGpsData(), NavEKF3_core::readGpsData(), AP_ADSB::send_dynamic_out(), and send_mavlink_gps_raw().

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◆ vertical_accuracy() [2/2]

bool AP_GPS::vertical_accuracy ( float & vacc ) const

inline

Definition at line 219 of file AP_GPS.h.

◆ Write_DataFlash_Log_Startup_messages()

void AP_GPS::Write_DataFlash_Log_Startup_messages ( )

Definition at line 1093 of file AP_GPS.cpp.

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Friends And Related Function Documentation

◆ AP_GPS_Backend

friend class AP_GPS_Backend

friend

Definition at line 63 of file AP_GPS.h.

◆ AP_GPS_ERB

friend class AP_GPS_ERB

friend

Definition at line 50 of file AP_GPS.h.

Referenced by detect_instance().

◆ AP_GPS_GSOF

friend class AP_GPS_GSOF

friend

Definition at line 51 of file AP_GPS.h.

Referenced by detect_instance().

◆ AP_GPS_MAV

friend class AP_GPS_MAV

friend

Definition at line 52 of file AP_GPS.h.

Referenced by detect_instance().

◆ AP_GPS_MTK

friend class AP_GPS_MTK

friend

Definition at line 53 of file AP_GPS.h.

Referenced by detect_instance().

◆ AP_GPS_MTK19

friend class AP_GPS_MTK19

friend

Definition at line 54 of file AP_GPS.h.

Referenced by detect_instance().

◆ AP_GPS_NMEA

friend class AP_GPS_NMEA

friend

Definition at line 55 of file AP_GPS.h.

Referenced by detect_instance().

◆ AP_GPS_NOVA

friend class AP_GPS_NOVA

friend

Definition at line 56 of file AP_GPS.h.

Referenced by detect_instance().

◆ AP_GPS_PX4

friend class AP_GPS_PX4

friend

Definition at line 57 of file AP_GPS.h.

◆ AP_GPS_SBF

friend class AP_GPS_SBF

friend

Definition at line 58 of file AP_GPS.h.

Referenced by detect_instance().

◆ AP_GPS_SBP

friend class AP_GPS_SBP

friend

Definition at line 59 of file AP_GPS.h.

Referenced by detect_instance().

◆ AP_GPS_SBP2

friend class AP_GPS_SBP2

friend

Definition at line 60 of file AP_GPS.h.

Referenced by detect_instance().

◆ AP_GPS_SIRF

friend class AP_GPS_SIRF

friend

Definition at line 61 of file AP_GPS.h.

Referenced by detect_instance().

◆ AP_GPS_UBLOX

friend class AP_GPS_UBLOX

friend

Definition at line 62 of file AP_GPS.h.

Referenced by detect_instance().

Member Data Documentation

◆ _antenna_offset

AP_Vector3f AP_GPS::_antenna_offset[GPS_MAX_RECEIVERS]

protected

Definition at line 436 of file AP_GPS.h.

Referenced by calc_blended_state(), get_antenna_offset(), and update().

◆ _auto_config

AP_Int8 AP_GPS::_auto_config

protected

Definition at line 435 of file AP_GPS.h.

Referenced by AP_GPS_UBLOX::_request_next_config(), AP_GPS_SBF::broadcast_configuration_failure_reason(), detect_instance(), AP_GPS_UBLOX::get_lag(), AP_GPS_SBF::is_configured(), AP_GPS_UBLOX::is_configured(), AP_GPS_SBF::read(), and update_instance().

◆ _auto_switch

AP_Int8 AP_GPS::_auto_switch

protected

Definition at line 424 of file AP_GPS.h.

Referenced by update().

◆ _baudrates

const uint32_t AP_GPS::_baudrates = {9600U, 115200U, 4800U, 19200U, 38400U, 57600U, 230400U}

staticprivate

Definition at line 499 of file AP_GPS.h.

Referenced by AP_GPS_Backend::_detection_message(), and detect_instance().

◆ _blend_health_counter

uint8_t AP_GPS::_blend_health_counter

private

Definition at line 544 of file AP_GPS.h.

Referenced by blend_health_check(), and update().

◆ _blend_mask

AP_Int8 AP_GPS::_blend_mask

protected

Definition at line 438 of file AP_GPS.h.

Referenced by calc_blend_weights().

◆ _blend_tc

AP_Float AP_GPS::_blend_tc

protected

Definition at line 439 of file AP_GPS.h.

Referenced by init().

◆ _blend_weights

float AP_GPS::_blend_weights[GPS_MAX_RECEIVERS]

private

Definition at line 540 of file AP_GPS.h.

Referenced by calc_blend_weights(), and calc_blended_state().

◆ _blended_antenna_offset

Vector3f AP_GPS::_blended_antenna_offset

private

Definition at line 538 of file AP_GPS.h.

Referenced by calc_blended_state(), get_antenna_offset(), and update().

◆ _blended_lag_sec

float AP_GPS::_blended_lag_sec = 0.001f * GPS_MAX_RATE_MS

private

Definition at line 539 of file AP_GPS.h.

Referenced by calc_blended_state(), and get_lag().

◆ _delay_ms

AP_Int16 AP_GPS::_delay_ms[GPS_MAX_RECEIVERS]

protected

Definition at line 437 of file AP_GPS.h.

Referenced by get_lag().

◆ _gnss_mode

AP_Int8 AP_GPS::_gnss_mode[GPS_MAX_RECEIVERS]

protected

Definition at line 432 of file AP_GPS.h.

Referenced by AP_GPS_UBLOX::_parse_gps().

◆ _hgt_offset_cm

float AP_GPS::_hgt_offset_cm[GPS_MAX_RECEIVERS]

private

Definition at line 537 of file AP_GPS.h.

Referenced by calc_blended_state().

◆ _initialisation_blob

const char AP_GPS::_initialisation_blob = UBLOX_SET_BINARY MTK_SET_BINARY SIRF_SET_BINARY

staticprivate

Definition at line 500 of file AP_GPS.h.

Referenced by AP_GPS(), and detect_instance().

◆ _initialisation_raw_blob

const char AP_GPS::_initialisation_raw_blob[]

staticprivate

Definition at line 501 of file AP_GPS.h.

◆ _inject_to

AP_Int8 AP_GPS::_inject_to

protected

Definition at line 427 of file AP_GPS.h.

Referenced by inject_data().

◆ _last_instance_swap_ms

uint32_t AP_GPS::_last_instance_swap_ms

protected

Definition at line 428 of file AP_GPS.h.

Referenced by init(), and update().

◆ _last_time_updated

uint32_t AP_GPS::_last_time_updated[GPS_MAX_RECEIVERS]

private

Definition at line 541 of file AP_GPS.h.

Referenced by calc_blended_state().

◆ _log_gps_bit

uint32_t AP_GPS::_log_gps_bit = -1

protected

Definition at line 441 of file AP_GPS.h.

Referenced by set_log_gps_bit(), and should_df_log().

◆ _min_dgps

AP_Int8 AP_GPS::_min_dgps

protected

Definition at line 425 of file AP_GPS.h.

◆ _min_elevation

AP_Int8 AP_GPS::_min_elevation

protected

Definition at line 430 of file AP_GPS.h.

Referenced by AP_GPS_UBLOX::_parse_gps().

◆ _navfilter

AP_Int8 AP_GPS::_navfilter

protected

Definition at line 423 of file AP_GPS.h.

Referenced by AP_GPS_UBLOX::_parse_gps().

◆ _NE_pos_offset_m

Vector2f AP_GPS::_NE_pos_offset_m[GPS_MAX_RECEIVERS]

private

Definition at line 536 of file AP_GPS.h.

Referenced by calc_blended_state().

◆ _omega_lpf

float AP_GPS::_omega_lpf

private

Definition at line 542 of file AP_GPS.h.

Referenced by calc_blended_state(), and init().

◆ _output_is_blended

bool AP_GPS::_output_is_blended

private

Definition at line 543 of file AP_GPS.h.

Referenced by num_sensors(), and update().

◆ _port

AP_HAL::UARTDriver* AP_GPS::_port[GPS_MAX_RECEIVERS]

private

Definition at line 466 of file AP_GPS.h.

Referenced by detect_instance(), init(), and send_blob_update().

◆ _rate_ms

AP_Int16 AP_GPS::_rate_ms[GPS_MAX_RECEIVERS]

protected

Definition at line 433 of file AP_GPS.h.

Referenced by AP_GPS_UBLOX::_parse_gps(), get_rate_ms(), and init().

◆ _raw_data

AP_Int8 AP_GPS::_raw_data

protected

Definition at line 431 of file AP_GPS.h.

Referenced by AP_GPS_UBLOX::_parse_gps(), AP_GPS_UBLOX::_request_next_config(), AP_GPS_UBLOX::_verify_rate(), AP_GPS_SBF::prepare_for_arming(), and AP_GPS_SBF::read().

◆ _save_config

AP_Int8 AP_GPS::_save_config

protected

Definition at line 434 of file AP_GPS.h.

Referenced by AP_GPS_UBLOX::read().

◆ _sbas_mode

AP_Int8 AP_GPS::_sbas_mode

protected

Definition at line 429 of file AP_GPS.h.

Referenced by AP_GPS_UBLOX::_parse_gps(), and AP_GPS_UBLOX::_request_next_config().

◆ _sbp_logmask

AP_Int16 AP_GPS::_sbp_logmask

protected

Definition at line 426 of file AP_GPS.h.

Referenced by AP_GPS_SBP::logging_log_raw_sbp(), and AP_GPS_SBP2::logging_log_raw_sbp().

◆ _singleton

AP_GPS * AP_GPS::_singleton

staticprivate

Definition at line 444 of file AP_GPS.h.

Referenced by AP_GPS(), and gps().

◆ _type

AP_Int8 AP_GPS::_type[GPS_MAX_RECEIVERS]

protected

Definition at line 422 of file AP_GPS.h.

Referenced by all_consistent(), calc_blend_weights(), detect_instance(), first_unconfigured_gps(), get_lag(), handle_msg(), setHIL(), and update_instance().

◆ blob

const char* AP_GPS::blob

Definition at line 495 of file AP_GPS.h.

Referenced by send_blob_update().

◆ detect_state

struct AP_GPS::detect_state AP_GPS::detect_state[GPS_MAX_RECEIVERS]

private

Referenced by AP_GPS_Backend::_detection_message().

◆ drivers

AP_GPS_Backend* AP_GPS::drivers[GPS_MAX_RECEIVERS]

private

Definition at line 465 of file AP_GPS.h.

Referenced by all_consistent(), broadcast_first_configuration_failure_reason(), calc_blend_weights(), detect_instance(), first_unconfigured_gps(), get_lag(), handle_msg(), highest_supported_status(), inject_data(), is_healthy(), prepare_for_arming(), send_mavlink_gps_rtk(), update_instance(), and Write_DataFlash_Log_Startup_messages().

◆ initblob_state

struct { ... } AP_GPS::initblob_state[GPS_MAX_RECEIVERS]

Referenced by detect_instance(), send_blob_start(), and send_blob_update().

◆ locked_ports

uint8_t AP_GPS::locked_ports

private

Definition at line 475 of file AP_GPS.h.

Referenced by lock_port(), and update_instance().

◆ num_instances

uint8_t AP_GPS::num_instances

private

number of GPS instances present

Definition at line 472 of file AP_GPS.h.

Referenced by all_consistent(), calc_blend_weights(), get_rate_ms(), handle_msg(), num_sensors(), send_mavlink_gps2_raw(), update(), and Write_DataFlash_Log_Startup_messages().

◆ primary_instance

uint8_t AP_GPS::primary_instance

private

primary GPS instance

Definition at line 469 of file AP_GPS.h.

Referenced by get_hdop(), get_lag(), get_vdop(), ground_course(), ground_course_cd(), ground_speed(), have_vertical_velocity(), horizontal_accuracy(), init(), is_healthy(), last_fix_time_ms(), last_message_delta_time_ms(), last_message_time_ms(), location(), num_sats(), primary_sensor(), rtk_age_ms(), rtk_num_sats(), speed_accuracy(), status(), time_epoch_usec(), time_week(), time_week_ms(), update(), velocity(), and vertical_accuracy().

◆ remaining

uint16_t AP_GPS::remaining

Definition at line 496 of file AP_GPS.h.

Referenced by detect_instance(), and send_blob_update().

◆ rtcm_buffer

struct AP_GPS::rtcm_buffer * AP_GPS::rtcm_buffer

private

◆ state

GPS_State AP_GPS::state[GPS_MAX_RECEIVERS+1]

private

◆ timing

GPS_timing AP_GPS::timing[GPS_MAX_RECEIVERS+1]

private

Definition at line 463 of file AP_GPS.h.

Referenced by calc_blended_state(), detect_instance(), last_fix_time_ms(), last_message_delta_time_ms(), last_message_time_ms(), setHIL(), setHIL_Accuracy(), and update_instance().

◆ var_info

const AP_Param::GroupInfo AP_GPS::var_info

static

Definition at line 404 of file AP_GPS.h.

Referenced by AP_GPS().

The documentation for this class was generated from the following files:

libraries/AP_GPS/AP_GPS.h
libraries/AP_GPS/AP_GPS.cpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Attributes

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Friends

Detailed Description

Member Enumeration Documentation

◆ GPS_AUTO_CONFIG

◆ GPS_Config

◆ GPS_Engine_Setting

◆ GPS_Status

◆ GPS_Type

Constructor & Destructor Documentation

◆ AP_GPS() [1/2]

◆ AP_GPS() [2/2]

Member Function Documentation

◆ all_configured()

◆ all_consistent()

◆ blend_health_check()

◆ broadcast_first_configuration_failure_reason()

◆ calc_blend_weights()

◆ calc_blended_state()

◆ detect_instance()

◆ first_unconfigured_gps()

◆ get_antenna_offset()

◆ get_hdop() [1/2]

◆ get_hdop() [2/2]

◆ get_lag() [1/2]

◆ get_lag() [2/2]

◆ get_rate_ms()

◆ get_vdop() [1/2]

◆ get_vdop() [2/2]

◆ gps()

◆ ground_course() [1/2]

◆ ground_course() [2/2]

◆ ground_course_cd() [1/2]

◆ ground_course_cd() [2/2]

◆ ground_speed() [1/2]

◆ ground_speed() [2/2]

◆ ground_speed_cm()

◆ handle_gps_inject()

◆ handle_gps_rtcm_data()

◆ handle_msg()

◆ have_vertical_velocity() [1/2]

◆ have_vertical_velocity() [2/2]

◆ highest_supported_status()

◆ horizontal_accuracy() [1/2]

◆ horizontal_accuracy() [2/2]

◆ init()

◆ inject_data() [1/2]

◆ inject_data() [2/2]

◆ is_healthy() [1/2]

◆ is_healthy() [2/2]

◆ last_fix_time_ms() [1/2]

◆ last_fix_time_ms() [2/2]

◆ last_message_delta_time_ms() [1/2]

◆ last_message_delta_time_ms() [2/2]

◆ last_message_time_ms() [1/2]

◆ last_message_time_ms() [2/2]

◆ location() [1/2]

◆ location() [2/2]

◆ lock_port()

◆ num_sats() [1/2]

◆ num_sats() [2/2]

◆ num_sensors()

◆ operator=()

◆ prepare_for_arming()

◆ primary_sensor()

◆ rtk_age_ms() [1/2]

◆ rtk_age_ms() [2/2]

◆ rtk_num_sats() [1/2]

◆ rtk_num_sats() [2/2]

◆ send_blob_start()

◆ send_blob_update()