#include <GPS_Backend.h>

Inheritance diagram for AP_GPS_Backend:

Collaboration diagram for AP_GPS_Backend:

Public Member Functions
	AP_GPS_Backend (AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port)

virtual	~AP_GPS_Backend (void)

virtual bool	read ()=0

virtual AP_GPS::GPS_Status	highest_supported_status (void)

virtual bool	is_configured (void)

virtual void	inject_data (const uint8_t *data, uint16_t len)

virtual bool	supports_mavlink_gps_rtk_message ()

virtual void	send_mavlink_gps_rtk (mavlink_channel_t chan)

virtual void	broadcast_configuration_failure_reason (void) const

virtual void	handle_msg (const mavlink_message_t *msg)

virtual void	handle_gnss_msg (const AP_GPS::GPS_State &msg)

virtual bool	get_lag (float &lag) const

virtual bool	is_healthy (void) const

virtual const char *	name () const =0

void	broadcast_gps_type () const

virtual void	Write_DataFlash_Log_Startup_messages () const

virtual bool	prepare_for_arming (void)

Protected Member Functions
int32_t	swap_int32 (int32_t v) const

int16_t	swap_int16 (int16_t v) const

void	fill_3d_velocity (void)

void	make_gps_time (uint32_t bcd_date, uint32_t bcd_milliseconds)

void	_detection_message (char *buffer, uint8_t buflen) const

bool	should_df_log () const

Protected Attributes
AP_HAL::UARTDriver *	port
	UART we are attached to. More...

AP_GPS &	gps
	access to frontend (for parameters) More...

AP_GPS::GPS_State &	state
	public state for this instance More...

Detailed Description

Definition at line 24 of file GPS_Backend.h.

Constructor & Destructor Documentation

◆ AP_GPS_Backend()

AP_GPS_Backend::AP_GPS_Backend	(	AP_GPS &	_gps,
		AP_GPS::GPS_State &	_state,
		AP_HAL::UARTDriver *	_port
	)

Definition at line 31 of file GPS_Backend.cpp.

◆ ~AP_GPS_Backend()

virtual AP_GPS_Backend::~AP_GPS_Backend ( void )

inlinevirtual

Definition at line 31 of file GPS_Backend.h.

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Member Function Documentation

◆ _detection_message()

void AP_GPS_Backend::_detection_message	(	char *	buffer,
		uint8_t	buflen
	)		const

protected

Definition at line 139 of file GPS_Backend.cpp.

Referenced by broadcast_gps_type(), and Write_DataFlash_Log_Startup_messages().

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◆ broadcast_configuration_failure_reason()

virtual void AP_GPS_Backend::broadcast_configuration_failure_reason ( void ) const

inlinevirtual

Reimplemented in AP_GPS_UBLOX, and AP_GPS_SBF.

Definition at line 50 of file GPS_Backend.h.

Referenced by AP_GPS::broadcast_first_configuration_failure_reason().

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◆ broadcast_gps_type()

void AP_GPS_Backend::broadcast_gps_type ( ) const

Definition at line 159 of file GPS_Backend.cpp.

Referenced by AP_GPS::detect_instance(), and is_healthy().

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◆ fill_3d_velocity()

void AP_GPS_Backend::fill_3d_velocity ( void )

protected

Definition at line 116 of file GPS_Backend.cpp.

Referenced by AP_GPS_SIRF::_parse_gps(), AP_GPS_NMEA::_term_complete(), AP_GPS_NOVA::process_message(), AP_GPS_GSOF::process_message(), AP_GPS_MTK::read(), and AP_GPS_MTK19::read().

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◆ get_lag()

virtual bool AP_GPS_Backend::get_lag ( float & lag ) const

inlinevirtual

Reimplemented in AP_GPS_UBLOX, and AP_GPS_SBF.

Definition at line 56 of file GPS_Backend.h.

Referenced by AP_GPS::get_lag().

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◆ handle_gnss_msg()

virtual void AP_GPS_Backend::handle_gnss_msg ( const AP_GPS::GPS_State & msg )

inlinevirtual

Reimplemented in AP_GPS_UAVCAN.

Definition at line 53 of file GPS_Backend.h.

◆ handle_msg()

virtual void AP_GPS_Backend::handle_msg ( const mavlink_message_t * msg )

inlinevirtual

Reimplemented in AP_GPS_MAV.

Definition at line 52 of file GPS_Backend.h.

Referenced by AP_GPS::handle_msg().

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◆ highest_supported_status()

virtual AP_GPS::GPS_Status AP_GPS_Backend::highest_supported_status ( void )

inlinevirtual

Reimplemented in AP_GPS_UBLOX, AP_GPS_ERB, AP_GPS_SBF, AP_GPS_SBP, AP_GPS_SBP2, AP_GPS_GSOF, and AP_GPS_NOVA.

Definition at line 40 of file GPS_Backend.h.

Referenced by AP_GPS::highest_supported_status().

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◆ inject_data()

void AP_GPS_Backend::inject_data	(	const uint8_t *	data,
		uint16_t	len
	)

virtual

Reimplemented in AP_GPS_SBP, AP_GPS_SBP2, and AP_GPS_NOVA.

Definition at line 127 of file GPS_Backend.cpp.

Referenced by AP_GPS::inject_data(), and is_configured().

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◆ is_configured()

virtual bool AP_GPS_Backend::is_configured ( void )

inlinevirtual

Reimplemented in AP_GPS_UBLOX, and AP_GPS_SBF.

Definition at line 42 of file GPS_Backend.h.

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◆ is_healthy()

virtual bool AP_GPS_Backend::is_healthy ( void ) const

inlinevirtual

Reimplemented in AP_GPS_SBF.

Definition at line 59 of file GPS_Backend.h.

Referenced by AP_GPS::is_healthy().

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◆ make_gps_time()

void AP_GPS_Backend::make_gps_time	(	uint32_t	bcd_date,
		uint32_t	bcd_milliseconds
	)

protected

fill in time_week_ms and time_week from BCD date and time components assumes MTK19 millisecond form of bcd_time

Definition at line 76 of file GPS_Backend.cpp.

Referenced by AP_GPS_NMEA::_term_complete(), AP_GPS_MTK::read(), and AP_GPS_MTK19::read().

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◆ name()

virtual const char* AP_GPS_Backend::name ( ) const

pure virtual

Implemented in AP_GPS_UBLOX, AP_GPS_NMEA, AP_GPS_SBP, AP_GPS_ERB, AP_GPS_SBP2, AP_GPS_SBF, AP_GPS_MTK, AP_GPS_MTK19, AP_GPS_MAV, AP_GPS_SIRF, AP_GPS_UAVCAN, AP_GPS_GSOF, and AP_GPS_NOVA.

Referenced by _detection_message(), and is_healthy().

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◆ prepare_for_arming()

virtual bool AP_GPS_Backend::prepare_for_arming ( void )

inlinevirtual

Reimplemented in AP_GPS_SBF.

Definition at line 66 of file GPS_Backend.h.

Referenced by AP_GPS::prepare_for_arming().

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◆ read()

virtual bool AP_GPS_Backend::read ( )

pure virtual

Implemented in AP_GPS_UBLOX, AP_GPS_NMEA, AP_GPS_SBF, AP_GPS_SBP, AP_GPS_GSOF, AP_GPS_MTK19, AP_GPS_SBP2, AP_GPS_MTK, AP_GPS_SIRF, AP_GPS_ERB, AP_GPS_NOVA, AP_GPS_MAV, and AP_GPS_UAVCAN.

Referenced by AP_GPS::update_instance(), and ~AP_GPS_Backend().

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◆ send_mavlink_gps_rtk()

void AP_GPS_Backend::send_mavlink_gps_rtk ( mavlink_channel_t chan )

virtual

Definition at line 179 of file GPS_Backend.cpp.

Referenced by AP_GPS::send_mavlink_gps_rtk(), and supports_mavlink_gps_rtk_message().

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◆ should_df_log()

bool AP_GPS_Backend::should_df_log ( ) const

protected

Definition at line 173 of file GPS_Backend.cpp.

Referenced by AP_GPS_SBF::log_ExtEventPVTGeodetic(), AP_GPS_UBLOX::log_mon_hw(), AP_GPS_UBLOX::log_mon_hw2(), AP_GPS_UBLOX::log_rxm_raw(), AP_GPS_UBLOX::log_rxm_rawx(), AP_GPS_SBP2::logging_ext_event(), AP_GPS_SBP::logging_log_full_update(), AP_GPS_SBP2::logging_log_full_update(), AP_GPS_SBP::logging_log_raw_sbp(), and AP_GPS_SBP2::logging_log_raw_sbp().

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◆ supports_mavlink_gps_rtk_message()

virtual bool AP_GPS_Backend::supports_mavlink_gps_rtk_message ( )

inlinevirtual

Reimplemented in AP_GPS_ERB, and AP_GPS_SBP.

Definition at line 47 of file GPS_Backend.h.

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◆ swap_int16()

int16_t AP_GPS_Backend::swap_int16 ( int16_t v ) const

protected

Definition at line 57 of file GPS_Backend.cpp.

Referenced by AP_GPS_SIRF::_parse_gps().

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◆ swap_int32()

int32_t AP_GPS_Backend::swap_int32 ( int32_t v ) const

protected

Definition at line 41 of file GPS_Backend.cpp.

Referenced by AP_GPS_SIRF::_parse_gps(), and AP_GPS_MTK::read().

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◆ Write_DataFlash_Log_Startup_messages()

void AP_GPS_Backend::Write_DataFlash_Log_Startup_messages ( ) const

virtual

Reimplemented in AP_GPS_UBLOX.

Definition at line 166 of file GPS_Backend.cpp.

Referenced by is_healthy(), AP_GPS_UBLOX::Write_DataFlash_Log_Startup_messages(), and AP_GPS::Write_DataFlash_Log_Startup_messages().

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Member Data Documentation

◆ gps

AP_GPS& AP_GPS_Backend::gps

protected

◆ port

AP_HAL::UARTDriver* AP_GPS_Backend::port

protected

◆ state

AP_GPS::GPS_State& AP_GPS_Backend::state

protected

public state for this instance

Definition at line 71 of file GPS_Backend.h.

Referenced by AP_GPS_SBP::_attempt_state_update(), AP_GPS_SBP2::_attempt_state_update(), AP_GPS_UBLOX::_configure_rate(), _detection_message(), AP_GPS_SIRF::_parse_gps(), AP_GPS_ERB::_parse_gps(), AP_GPS_UBLOX::_parse_gps(), AP_GPS_UBLOX::_save_cfg(), AP_GPS_NMEA::_term_complete(), AP_GPS_Backend(), AP_GPS_MTK::AP_GPS_MTK(), AP_GPS_SBP::AP_GPS_SBP(), AP_GPS_SIRF::AP_GPS_SIRF(), AP_GPS_UBLOX::AP_GPS_UBLOX(), AP_GPS_SBF::broadcast_configuration_failure_reason(), AP_GPS_UBLOX::broadcast_configuration_failure_reason(), fill_3d_velocity(), AP_GPS_MAV::handle_msg(), AP_GPS_SBP2::highest_supported_status(), AP_GPS_UBLOX::highest_supported_status(), inject_data(), AP_GPS_UBLOX::log_mon_hw(), AP_GPS_UBLOX::log_mon_hw2(), make_gps_time(), AP_GPS_SBF::prepare_for_arming(), AP_GPS_NOVA::process_message(), AP_GPS_GSOF::process_message(), AP_GPS_SBF::process_message(), AP_GPS_MTK::read(), AP_GPS_MTK19::read(), send_mavlink_gps_rtk(), AP_GPS_SBP::supports_mavlink_gps_rtk_message(), AP_GPS_ERB::supports_mavlink_gps_rtk_message(), and AP_GPS_UBLOX::Write_DataFlash_Log_Startup_messages().

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

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AP_GPS_Backend()

◆ ~AP_GPS_Backend()

Member Function Documentation

◆ _detection_message()

◆ broadcast_configuration_failure_reason()

◆ broadcast_gps_type()

◆ fill_3d_velocity()

◆ get_lag()

◆ handle_gnss_msg()

◆ handle_msg()

◆ highest_supported_status()

◆ inject_data()

◆ is_configured()

◆ is_healthy()

◆ make_gps_time()

◆ name()

◆ prepare_for_arming()

◆ read()

◆ send_mavlink_gps_rtk()

◆ should_df_log()

◆ supports_mavlink_gps_rtk_message()

◆ swap_int16()

◆ swap_int32()

◆ Write_DataFlash_Log_Startup_messages()

Member Data Documentation

◆ gps

◆ port

◆ state