#include <AP_GPS_NOVA.h>

Inheritance diagram for AP_GPS_NOVA:

Collaboration diagram for AP_GPS_NOVA:

Classes
struct	bestpos

struct	bestvel

union	msgbuffer

union	msgheader

struct	nova_header

struct	nova_msg_parser

struct	psrdop

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

AP_GPS::GPS_Status	highest_supported_status (void)

bool	read ()

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

const char *	name () const override

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

virtual	~AP_GPS_Backend (void)

virtual bool	is_configured (void)

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

void	broadcast_gps_type () const

virtual void	Write_DataFlash_Log_Startup_messages () const

virtual bool	prepare_for_arming (void)

Private Member Functions
bool	parse (uint8_t temp)

bool	process_message ()

uint32_t	CRC32Value (uint32_t icrc)

uint32_t	CalculateBlockCRC32 (uint32_t length, uint8_t *buffer, uint32_t crc)

Private Attributes
bool	_new_position:1

bool	_new_speed:1

uint32_t	_last_vel_time

uint8_t	_init_blob_index = 0

uint32_t	_init_blob_time = 0

const char *	_initialisation_blob [6]

uint32_t	crc_error_counter = 0

uint32_t	last_injected_data_ms = 0

struct PACKED AP_GPS_NOVA::nova_msg_parser	nova_msg

Static Private Attributes
static const uint8_t	NOVA_PREAMBLE1 = 0xaa

static const uint8_t	NOVA_PREAMBLE2 = 0x44

static const uint8_t	NOVA_PREAMBLE3 = 0x12

Additional Inherited Members
Protected Member Functions inherited from AP_GPS_Backend
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 inherited from AP_GPS_Backend
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 25 of file AP_GPS_NOVA.h.

Constructor & Destructor Documentation

◆ AP_GPS_NOVA()

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

Definition at line 41 of file AP_GPS_NOVA.cpp.

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Member Function Documentation

◆ CalculateBlockCRC32()

uint32_t AP_GPS_NOVA::CalculateBlockCRC32	(	uint32_t	length,
		uint8_t *	buffer,
		uint32_t	crc
	)

private

Definition at line 308 of file AP_GPS_NOVA.cpp.

Referenced by name(), and parse().

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◆ CRC32Value()

uint32_t AP_GPS_NOVA::CRC32Value ( uint32_t icrc )

private

Definition at line 294 of file AP_GPS_NOVA.cpp.

Referenced by CalculateBlockCRC32(), and name().

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◆ highest_supported_status()

AP_GPS::GPS_Status AP_GPS_NOVA::highest_supported_status ( void )

inlinevirtual

Reimplemented from AP_GPS_Backend.

Definition at line 30 of file AP_GPS_NOVA.h.

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◆ inject_data()

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

overridevirtual

Reimplemented from AP_GPS_Backend.

Definition at line 283 of file AP_GPS_NOVA.cpp.

Referenced by highest_supported_status().

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◆ name()

const char* AP_GPS_NOVA::name ( ) const

inlineoverridevirtual

Implements AP_GPS_Backend.

Definition at line 37 of file AP_GPS_NOVA.h.

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◆ parse()

bool AP_GPS_NOVA::parse ( uint8_t temp )

private

Definition at line 81 of file AP_GPS_NOVA.cpp.

Referenced by name(), and read().

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◆ process_message()

bool AP_GPS_NOVA::process_message ( void )

private

Definition at line 183 of file AP_GPS_NOVA.cpp.

Referenced by name(), and parse().

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◆ read()

bool AP_GPS_NOVA::read ( void )

virtual

Implements AP_GPS_Backend.

Definition at line 57 of file AP_GPS_NOVA.cpp.

Referenced by highest_supported_status().

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Member Data Documentation

◆ _init_blob_index

uint8_t AP_GPS_NOVA::_init_blob_index = 0

private

Definition at line 57 of file AP_GPS_NOVA.h.

Referenced by read().

◆ _init_blob_time

uint32_t AP_GPS_NOVA::_init_blob_time = 0

private

Definition at line 58 of file AP_GPS_NOVA.h.

Referenced by read().

◆ _initialisation_blob

const char* AP_GPS_NOVA::_initialisation_blob[6]

private

Initial value:

= {
        "\r\n\r\nunlogall\r\n", 
        "log bestposb ontime 0.2 0 nohold\r\n", 
        "log bestvelb ontime 0.2 0 nohold\r\n", 
        "log psrdopb onchanged\r\n", 
        "log psrdopb ontime 0.2\r\n", 
        "log psrdopb\r\n" 
    }

Definition at line 59 of file AP_GPS_NOVA.h.

Referenced by AP_GPS_NOVA(), and read().

◆ _last_vel_time

uint32_t AP_GPS_NOVA::_last_vel_time

private

Definition at line 55 of file AP_GPS_NOVA.h.

Referenced by process_message().

◆ _new_position

bool AP_GPS_NOVA::_new_position

private

Definition at line 51 of file AP_GPS_NOVA.h.

Referenced by process_message().

◆ _new_speed

bool AP_GPS_NOVA::_new_speed

private

Definition at line 53 of file AP_GPS_NOVA.h.

Referenced by process_message().

◆ crc_error_counter

uint32_t AP_GPS_NOVA::crc_error_counter = 0

private

Definition at line 68 of file AP_GPS_NOVA.h.

Referenced by parse().

◆ last_injected_data_ms

uint32_t AP_GPS_NOVA::last_injected_data_ms = 0

private

Definition at line 69 of file AP_GPS_NOVA.h.

Referenced by inject_data().

◆ nova_msg

struct PACKED AP_GPS_NOVA::nova_msg_parser AP_GPS_NOVA::nova_msg

private

Referenced by AP_GPS_NOVA(), parse(), and process_message().

◆ NOVA_PREAMBLE1

const uint8_t AP_GPS_NOVA::NOVA_PREAMBLE1 = 0xaa

staticprivate

Definition at line 46 of file AP_GPS_NOVA.h.

Referenced by parse().

◆ NOVA_PREAMBLE2

const uint8_t AP_GPS_NOVA::NOVA_PREAMBLE2 = 0x44

staticprivate

Definition at line 47 of file AP_GPS_NOVA.h.

Referenced by parse().

◆ NOVA_PREAMBLE3

const uint8_t AP_GPS_NOVA::NOVA_PREAMBLE3 = 0x12

staticprivate

Definition at line 48 of file AP_GPS_NOVA.h.

Referenced by parse().

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

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

Classes

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AP_GPS_NOVA()

Member Function Documentation

◆ CalculateBlockCRC32()

◆ CRC32Value()

◆ highest_supported_status()

◆ inject_data()

◆ name()

◆ parse()

◆ process_message()

◆ read()

Member Data Documentation

◆ _init_blob_index

◆ _init_blob_time

◆ _initialisation_blob

◆ _last_vel_time

◆ _new_position

◆ _new_speed

◆ crc_error_counter

◆ last_injected_data_ms

◆ nova_msg

◆ NOVA_PREAMBLE1

◆ NOVA_PREAMBLE2

◆ NOVA_PREAMBLE3