AP_GPS_SBP Class Reference

#include <AP_GPS_SBP.h>

Inheritance diagram for AP_GPS_SBP:

Collaboration diagram for AP_GPS_SBP:

Classes
struct	sbp_dops_t
struct	sbp_gps_time_t
struct	sbp_heartbeat_t
struct	sbp_iar_state_t
struct	sbp_parser_state_t
struct	sbp_pos_llh_t
struct	sbp_tracking_state_t
struct	sbp_vel_ned_t

Public Member Functions
	AP_GPS_SBP (AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port)
AP_GPS::GPS_Status	highest_supported_status (void)
bool	supports_mavlink_gps_rtk_message ()
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 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)

Static Public Member Functions
static bool	_detect (struct SBP_detect_state &state, uint8_t data)

Private Member Functions
void	_sbp_process ()
void	_sbp_process_message ()
bool	_attempt_state_update ()
void	logging_log_full_update ()
void	logging_log_raw_sbp (uint16_t msg_type, uint16_t sender_id, uint8_t msg_len, uint8_t *msg_buff)

Private Attributes
struct AP_GPS_SBP::sbp_parser_state_t	parser_state
uint32_t	last_heatbeat_received_ms
uint32_t	last_injected_data_ms
struct sbp_gps_time_t	last_gps_time
struct sbp_dops_t	last_dops
struct sbp_pos_llh_t	last_pos_llh_spp
struct sbp_pos_llh_t	last_pos_llh_rtk
struct sbp_vel_ned_t	last_vel_ned
uint32_t	last_iar_num_hypotheses
uint32_t	last_full_update_tow
uint32_t	last_full_update_cpu_ms
uint32_t	crc_error_counter

Static Private Attributes
static const uint8_t	SBP_PREAMBLE = 0x55
static const uint16_t	SBP_STARTUP_MSGTYPE = 0xFF00
static const uint16_t	SBP_HEARTBEAT_MSGTYPE = 0xFFFF
static const uint16_t	SBP_GPS_TIME_MSGTYPE = 0x0100
static const uint16_t	SBP_DOPS_MSGTYPE = 0x0206
static const uint16_t	SBP_POS_ECEF_MSGTYPE = 0x0200
static const uint16_t	SBP_POS_LLH_MSGTYPE = 0x0201
static const uint16_t	SBP_BASELINE_ECEF_MSGTYPE = 0x0202
static const uint16_t	SBP_BASELINE_NED_MSGTYPE = 0x0203
static const uint16_t	SBP_VEL_ECEF_MSGTYPE = 0x0204
static const uint16_t	SBP_VEL_NED_MSGTYPE = 0x0205
static const uint16_t	SBP_TRACKING_STATE_MSGTYPE = 0x0016
static const uint16_t	SBP_IAR_STATE_MSGTYPE = 0x0019

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 27 of file AP_GPS_SBP.h.

Constructor & Destructor Documentation

AP_GPS_SBP()

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

Definition at line 47 of file AP_GPS_SBP.cpp.

Here is the call graph for this function:

Member Function Documentation

_attempt_state_update()

bool AP_GPS_SBP::_attempt_state_update ( )

private

Definition at line 228 of file AP_GPS_SBP.cpp.

Referenced by read().

Here is the call graph for this function:

Here is the caller graph for this function:

_detect()

bool AP_GPS_SBP::_detect ( struct SBP_detect_state &  state, uint8_t  data  )

static

Definition at line 311 of file AP_GPS_SBP.cpp.

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

Here is the call graph for this function:

Here is the caller graph for this function:

_sbp_process()

void AP_GPS_SBP::_sbp_process ( )

private

Definition at line 95 of file AP_GPS_SBP.cpp.

Referenced by read().

Here is the call graph for this function:

Here is the caller graph for this function:

_sbp_process_message()

void AP_GPS_SBP::_sbp_process_message ( )

private

Definition at line 177 of file AP_GPS_SBP.cpp.

Referenced by _sbp_process().

Here is the call graph for this function:

Here is the caller graph for this function:

highest_supported_status()

AP_GPS::GPS_Status AP_GPS_SBP::highest_supported_status ( void  )

inlinevirtual

Reimplemented from AP_GPS_Backend.

Definition at line 32 of file AP_GPS_SBP.h.

inject_data()

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

overridevirtual

Reimplemented from AP_GPS_Backend.

Definition at line 80 of file AP_GPS_SBP.cpp.

Referenced by supports_mavlink_gps_rtk_message().

Here is the call graph for this function:

Here is the caller graph for this function:

logging_log_full_update()

void AP_GPS_SBP::logging_log_full_update ( )

private

Definition at line 388 of file AP_GPS_SBP.cpp.

Referenced by _attempt_state_update().

Here is the call graph for this function:

Here is the caller graph for this function:

logging_log_raw_sbp()

void AP_GPS_SBP::logging_log_raw_sbp ( uint16_t  msg_type, uint16_t  sender_id, uint8_t  msg_len, uint8_t *  msg_buff  )

private

Definition at line 407 of file AP_GPS_SBP.cpp.

Referenced by _sbp_process_message().

Here is the call graph for this function:

Here is the caller graph for this function:

name()

const char* AP_GPS_SBP::name ( ) const

inlineoverridevirtual

Implements AP_GPS_Backend.

Definition at line 43 of file AP_GPS_SBP.h.

read()

bool AP_GPS_SBP::read ( void  )

virtual

Implements AP_GPS_Backend.

Definition at line 65 of file AP_GPS_SBP.cpp.

Referenced by supports_mavlink_gps_rtk_message().

Here is the call graph for this function:

Here is the caller graph for this function:

supports_mavlink_gps_rtk_message()

bool AP_GPS_SBP::supports_mavlink_gps_rtk_message ( )

inlinevirtual

Reimplemented from AP_GPS_Backend.

Definition at line 34 of file AP_GPS_SBP.h.

Here is the call graph for this function:

Member Data Documentation

crc_error_counter

uint32_t AP_GPS_SBP::crc_error_counter

private

Definition at line 177 of file AP_GPS_SBP.h.

Referenced by _sbp_process(), and logging_log_full_update().

last_dops

struct sbp_dops_t AP_GPS_SBP::last_dops

private

Definition at line 164 of file AP_GPS_SBP.h.

Referenced by _attempt_state_update(), and _sbp_process_message().

last_full_update_cpu_ms

uint32_t AP_GPS_SBP::last_full_update_cpu_ms

private

Definition at line 171 of file AP_GPS_SBP.h.

Referenced by _attempt_state_update().

last_full_update_tow

uint32_t AP_GPS_SBP::last_full_update_tow

private

Definition at line 170 of file AP_GPS_SBP.h.

Referenced by _attempt_state_update().

last_gps_time

struct sbp_gps_time_t AP_GPS_SBP::last_gps_time

private

Definition at line 163 of file AP_GPS_SBP.h.

Referenced by _attempt_state_update(), and _sbp_process_message().

last_heatbeat_received_ms

uint32_t AP_GPS_SBP::last_heatbeat_received_ms

private

Definition at line 160 of file AP_GPS_SBP.h.

Referenced by _attempt_state_update(), _sbp_process_message(), and AP_GPS_SBP().

last_iar_num_hypotheses

uint32_t AP_GPS_SBP::last_iar_num_hypotheses

private

Definition at line 168 of file AP_GPS_SBP.h.

Referenced by _attempt_state_update(), _sbp_process_message(), and logging_log_full_update().

last_injected_data_ms

uint32_t AP_GPS_SBP::last_injected_data_ms

private

Definition at line 161 of file AP_GPS_SBP.h.

Referenced by inject_data(), and logging_log_full_update().

last_pos_llh_rtk

struct sbp_pos_llh_t AP_GPS_SBP::last_pos_llh_rtk

private

Definition at line 166 of file AP_GPS_SBP.h.

Referenced by _attempt_state_update(), and _sbp_process_message().

last_pos_llh_spp

struct sbp_pos_llh_t AP_GPS_SBP::last_pos_llh_spp

private

Definition at line 165 of file AP_GPS_SBP.h.

Referenced by _sbp_process_message().

last_vel_ned

struct sbp_vel_ned_t AP_GPS_SBP::last_vel_ned

private

Definition at line 167 of file AP_GPS_SBP.h.

Referenced by _attempt_state_update(), and _sbp_process_message().

parser_state

struct AP_GPS_SBP::sbp_parser_state_t AP_GPS_SBP::parser_state

private

Referenced by _sbp_process(), _sbp_process_message(), and AP_GPS_SBP().

SBP_BASELINE_ECEF_MSGTYPE

const uint16_t AP_GPS_SBP::SBP_BASELINE_ECEF_MSGTYPE = 0x0202

staticprivate

Definition at line 77 of file AP_GPS_SBP.h.

SBP_BASELINE_NED_MSGTYPE

const uint16_t AP_GPS_SBP::SBP_BASELINE_NED_MSGTYPE = 0x0203

staticprivate

Definition at line 78 of file AP_GPS_SBP.h.

SBP_DOPS_MSGTYPE

const uint16_t AP_GPS_SBP::SBP_DOPS_MSGTYPE = 0x0206

staticprivate

Definition at line 74 of file AP_GPS_SBP.h.

Referenced by _sbp_process_message().

SBP_GPS_TIME_MSGTYPE

const uint16_t AP_GPS_SBP::SBP_GPS_TIME_MSGTYPE = 0x0100

staticprivate

Definition at line 73 of file AP_GPS_SBP.h.

Referenced by _sbp_process_message().

SBP_HEARTBEAT_MSGTYPE

const uint16_t AP_GPS_SBP::SBP_HEARTBEAT_MSGTYPE = 0xFFFF

staticprivate

Definition at line 72 of file AP_GPS_SBP.h.

Referenced by _detect(), and _sbp_process_message().

SBP_IAR_STATE_MSGTYPE

const uint16_t AP_GPS_SBP::SBP_IAR_STATE_MSGTYPE = 0x0019

staticprivate

Definition at line 82 of file AP_GPS_SBP.h.

Referenced by _sbp_process_message().

SBP_POS_ECEF_MSGTYPE

const uint16_t AP_GPS_SBP::SBP_POS_ECEF_MSGTYPE = 0x0200

staticprivate

Definition at line 75 of file AP_GPS_SBP.h.

SBP_POS_LLH_MSGTYPE

const uint16_t AP_GPS_SBP::SBP_POS_LLH_MSGTYPE = 0x0201

staticprivate

Definition at line 76 of file AP_GPS_SBP.h.

Referenced by _sbp_process_message().

SBP_PREAMBLE

const uint8_t AP_GPS_SBP::SBP_PREAMBLE = 0x55

staticprivate

Definition at line 68 of file AP_GPS_SBP.h.

Referenced by _detect(), and _sbp_process().

SBP_STARTUP_MSGTYPE

const uint16_t AP_GPS_SBP::SBP_STARTUP_MSGTYPE = 0xFF00

staticprivate

Definition at line 71 of file AP_GPS_SBP.h.

SBP_TRACKING_STATE_MSGTYPE

const uint16_t AP_GPS_SBP::SBP_TRACKING_STATE_MSGTYPE = 0x0016

staticprivate

Definition at line 81 of file AP_GPS_SBP.h.

Referenced by _sbp_process_message().

SBP_VEL_ECEF_MSGTYPE

const uint16_t AP_GPS_SBP::SBP_VEL_ECEF_MSGTYPE = 0x0204

staticprivate

Definition at line 79 of file AP_GPS_SBP.h.

SBP_VEL_NED_MSGTYPE

const uint16_t AP_GPS_SBP::SBP_VEL_NED_MSGTYPE = 0x0205

staticprivate

Definition at line 80 of file AP_GPS_SBP.h.

Referenced by _sbp_process_message().

---

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

• libraries/AP_GPS/AP_GPS_SBP.h
• libraries/AP_GPS/AP_GPS_SBP.cpp