Femtomes PX4 gps device driver #49

Femtomes · 2020-02-17T08:33:17Z

Femtomes is one product of gps receiver, it support the gps location, because many px4 customers use, so we develop the driver to be easy for further development and use.

bkueng · 2020-02-17T11:16:32Z

Thanks for the contribution.
I have some general questions:
On which GPS device has this been tested? Was RTK tested as well?
Where is the protocol specification documented?
Do you have a log file from a flight?

bys1123 · 2020-02-17T14:46:53Z

This is for their Femtomes FB672 and FB680 series receiver boards.
Femtomes FB672 is familiar with NovAtel 718D and Trimble MB-Two
Specification: https://1drv.ms/b/s!AmscxcpJYtuYmCaTc9xbWu5eIuJA
Femtomes FB680 is familiar with NovAtel 719
Specification: https://1drv.ms/b/s!AmscxcpJYtuYmCc7CQSfQuNjUe6v
These products are cheaper than NovAtel and Trimble's, already integration in some RTK receiver products in survey industry in European American and Chinese Market.

I'll share these product names and protocol specification tomorrow.
They tested old driver on px4 1.9.2. This code now updated but not well tested on current master yet due to COVID19. They will test this code later.
Thanks for your help.

hamishwillee · 2020-02-17T22:35:55Z

Hi @Femtomes
Do you intend to create documentation for this too? Normally we create a page like https://docs.px4.io/master/en/gps_compass/rtk_gps_cuav_c-rtk.html that has information about where you get the hardware, how it is wired, and any additional special setup or settings.

Then we link that from the parent page: https://docs.px4.io/master/en/gps_compass/rtk_gps.html

Femtomes · 2020-02-22T04:55:35Z

Hi @hamishwillee
Thanks for the advice.
We will find partners to help us collect 1-10 minutes of flight video and flight logs.
We will make a similar web page to explain our products, including parameters, usage methods and so on.
Please give us your valuable comments on other requirements.

bkueng · 2020-02-24T12:09:31Z

src/femtomes.h

+#endif
+
+
+GPSDriverFemto::GPSDriverFemto(GPSCallbackPtr callback, void *callback_user,


Why is this code in the header file? It is duplicated from the .cpp file.
Also the class declaration for GPSDriverFemto is missing, so this will not compile, and the pull request is incomplete in this state.

so sorry i can't understand about your answer.
1、 the 68 line will complete the init work when there have GPSDriverFemto object be create
2、this class declaration have done in the femtomes.h, you see the 68 line is in femtomes.cpp
3、I have do test about this code, we have log and video. so it sure to can be compiled.

Have a look at femtones.h and femtones.cpp in this PR: they both contain the same content, so it cannot work.

I'm sorry about have not notice the commit file of femtomes.h same to the femtomes.cpp. Later we will fix this problem. Thank you.

I have recommit the femtomes.h, please check this again,thank you.

hamishwillee · 2020-02-24T12:33:26Z

@Femtomes Re #49 (comment) - sounds good.

There is information on working with the documentation toolchain here: https://dev.px4.io/master/en/contribute/docs.html. Generally my advice is to copy the patterns of existing similar material.

After you've created a PR I may have more to add :-)

bkueng

I looked through it in detail and added some remarks and suggestions.

src/femtomes.h

bkueng · 2020-02-27T08:42:34Z

src/femtomes.h

+	OutputMode _output_mode{ OutputMode::GPS };
+	bool _correction_output_activated{false};
+	bool _configure_done{false};
+	float _heading_offset;


This needs to be substracted from the heading. Please check in ashtech.cpp how it's done.
Is heading supported?

sorry, i have not understand about this .

Like this: https://github.com/PX4/GpsDrivers/blob/master/src/ashtech.cpp#L300.

this have changed in the code, thank you

Thanks. You need to consider the wrapping as well: https://github.com/PX4/GpsDrivers/blob/master/src/ashtech.cpp#L303.

so sorry， i have change as your suggest this time。

src/femtomes.cpp

bkueng · 2020-02-27T09:03:02Z

src/femtomes.cpp

+		}
+	}
+#endif
+	if (writeAckedCommandFemto("LOG UAVGPSB 0.2\r\n", "<LOG OK",FEMO_RESPONSE_TIMEOUT) == 0){


Is that 5Hz? Can it go higher?

this can go higher,there need 20HZ?

Yes you can use 20Hz.

this have changed 5HZ to 20HZ in the code

src/femtomes.h

Femtomes

i don't sure how hz px4 need, our board can support max 20HZ.

Femtomes · 2020-03-02T06:23:45Z

src/femtomes.cpp

+		}
+	}
+#endif
+	if (writeAckedCommandFemto("LOG UAVGPSB 0.2\r\n", "<LOG OK",FEMO_RESPONSE_TIMEOUT) == 0){


this can go higher,there need 20HZ?

Femtomes · 2020-03-02T06:24:52Z

src/femtomes.h

+#define FEMTO_PREAMBLE3				0x12
+
+
+class GPSDriverFemto : public GPSBaseStationSupport


thanks, in this time, i change the class GPSDriverFemto : public GPSHelper,

Femtomes · 2020-03-02T06:52:06Z

src/femtomes.h

+	OutputMode _output_mode{ OutputMode::GPS };
+	bool _correction_output_activated{false};
+	bool _configure_done{false};
+	float _heading_offset;


sorry, i have not understand about this .

Femtomes · 2020-03-22T06:55:03Z

Hi @Femtomes
Do you intend to create documentation for this too? Normally we create a page like https://docs.px4.io/master/en/gps_compass/rtk_gps_cuav_c-rtk.html that has information about where you get the hardware, how it is wired, and any additional special setup or settings.

Then we link that from the parent page: https://docs.px4.io/master/en/gps_compass/rtk_gps.html

Hi @hamishwillee
we have upload two files and one video
1、the infomation about MINIII receiver https://docs.google.com/document/d/1VY9kiZ6XywsXOzRUrLiPejGl56e_P-8Vc3FNKzujvtU/edit
2、the log of px4 flyer using femtomes MINIII receiver
https://drive.google.com/drive/folders/17gXECMaJs0338bfp7Os_uIEKbwSB2gjj/12_13_05.ulg
3、the flying video
https://youtu.be/ScPSYmMU2JI

thank you

hamishwillee · 2020-03-23T06:45:59Z

@Femtomes I have requested access to the first link, the second link is broken.

Do you want to try creating a page like the one above? The information on how is in http://dev.px4.io/master/en/contribute/docs.html#adding-new-pages-and-images---big-changes

It is easy enough - you copy the format of the one I linked to and then modify it to fill in your information.

Femtomes · 2020-03-23T08:01:37Z

@Femtomes I have requested access to the first link, the second link is broken.

Do you want to try creating a page like the one above? The information on how is in http://dev.px4.io/master/en/contribute/docs.html#adding-new-pages-and-images---big-changes

It is easy enough - you copy the format of the one I linked to and then modify it to fill in your information.

Hi @hamishwillee
sorry to i have not set the share baout doc and log
1、the doc link is
https://docs.google.com/document/d/1VY9kiZ6XywsXOzRUrLiPejGl56e_P-8Vc3FNKzujvtU/edit?usp=sharing
2、log link is
https://drive.google.com/open?id=1LZInS9BpUb3EyOGtNuPyZVqlq0NMHaH5

Hi @bkueng
1、doc link
https://docs.google.com/document/d/1VY9kiZ6XywsXOzRUrLiPejGl56e_P-8Vc3FNKzujvtU/edit?usp=sharing
2、 log link
https://drive.google.com/file/d/1LZInS9BpUb3EyOGtNuPyZVqlq0NMHaH5/view?usp=sharing

bkueng

Thanks for the updates @Femtomes, looks much better already.

Can you provide me access to the logs?

bkueng · 2020-03-30T13:16:51Z

src/femtomes.h

+	femto_msg_t _femto_msg;
+	FemtoDecodeState _decode_state{FemtoDecodeState::pream_ble1};
+
+	bool _got_pashr_pos_message{false}; /**< If we got a PASHR,POS message, we will ignore GGA messages */


_got_pashr_pos_message is still unused.

thanks，i have delete all not used variables and functions

bkueng · 2020-03-30T13:17:21Z

src/femtomes.h

+#define FEMTO_PREAMBLE3				0x12
+
+
+class GPSDriverFemto : public GPSBaseStationSupport


@Femtomes did you see my comment here?

bkueng · 2020-03-30T13:29:32Z

src/femtomes.cpp

+		baudrate = desired_baudrate;
+		const char baud_config[] = "com%c 115200\r\n"; // configure baudrate to 115200
+		char baud_config_str[sizeof(baud_config)];
+		int len = snprintf(baud_config_str, sizeof(baud_config_str), baud_config, _port);


_port is just a space (' '), so this can be simplified. Did you intend to make this configurable?

thanks, delete this already.

LorenzMeier · 2020-04-09T13:20:50Z

@Femtomes Friendly ping: There are open review comments / questions.

bys1123 · 2020-04-09T13:44:14Z

@LorenzMeier Thanks, I‘m asking them the new progress.

bys1123 · 2020-04-10T07:44:20Z

Log link:
https://drive.google.com/file/d/1LZInS9BpUb3EyOGtNuPyZVqlq0NMHaH5/view?usp=sharing
Thanks Everyone.

bkueng

Thanks for the log, looks really good.
Do you have one with faster movements as well?

bkueng · 2020-04-14T08:39:59Z

src/femtomes.cpp

+	uint8_t buf[GPS_READ_BUFFER_SIZE];
+	gps_abstime time_started = gps_absolute_time();
+	while (time_started + timeout * 1000 * 2 > gps_absolute_time()) {
+		int ret = read(buf, sizeof(buf), 1000); /**< wait 1000us */


Why is there a factor of * 2 above?
The timeout is in ms, and should be used from the argument:

Suggested change

int ret = read(buf, sizeof(buf), 1000); /**< wait 1000us */

int ret = read(buf, sizeof(buf), timeout);

thanks,this is my fault,not need * 2

@bkueng the log of faster movements need some time.

bkueng · 2020-04-14T08:41:57Z

src/femtomes.h

+class RTCMParsing;
+
+/* ms, timeout for waiting for a response*/
+#define FEMO_RESPONSE_TIMEOUT		200


Typo (below as well):

Suggested change

#define FEMO_RESPONSE_TIMEOUT 200

#define FEMTO_RESPONSE_TIMEOUT 200

thanks，fixed this

bkueng · 2020-04-15T07:32:31Z

Rebased, fixed the style and gps message renaming (#53), and merged. Thanks for the efforts!

@bkueng the log of faster movements need some time.

@Femtomes no worries, just post it here when you have time.

femtomes px4 gps device code

aa71d93

bkueng reviewed Feb 24, 2020

View reviewed changes

ykevin and others added 3 commits February 27, 2020 10:33

fix femtomes.h the same to femtomes.cpp

69d8b69

delete the femtomes.h

a4be43e

add the right femtomes.h file

01764b6

bkueng reviewed Feb 27, 2020

View reviewed changes

fix some coding style

f87e4d3

Femtomes commented Mar 10, 2020

View reviewed changes

fix 5HZ output to 20HZ and _heading_offset

41633ab

Femtomes added 4 commits March 26, 2020 19:10

fix heading value error

f0115e7

fix heading value error

ace695c

fix heading value error

adcd0e9

fix heading value error

982282f

bkueng reviewed Mar 30, 2020

View reviewed changes

fix inheritance GPSHelper

0e655a5

Femtomes mentioned this pull request Apr 10, 2020

@Femtomes did you see my comment here? #56

Closed

bkueng reviewed Apr 14, 2020

View reviewed changes

Femtomes added 2 commits April 15, 2020 11:58

fix read timeout and typedef

01d928a

fix config baud only use 115200

d63f415

bkueng closed this Apr 15, 2020

This was referenced Apr 16, 2020

Add Femtomes GPS Driver PX4/PX4-Autopilot#14681

Closed

Move GPS aggregation and blending to sensors PX4/PX4-Autopilot#14447

Merged

Femtomes deleted the fem-sensor_gps branch April 16, 2021 02:29

		#endif


		GPSDriverFemto::GPSDriverFemto(GPSCallbackPtr callback, void *callback_user,

		#define FEMTO_PREAMBLE3 0x12


		class GPSDriverFemto : public GPSBaseStationSupport

	int ret = read(buf, sizeof(buf), 1000); /*< wait 1000us /
	int ret = read(buf, sizeof(buf), timeout);

	#define FEMO_RESPONSE_TIMEOUT 200
	#define FEMTO_RESPONSE_TIMEOUT 200

Femtomes PX4 gps device driver #49

Femtomes PX4 gps device driver #49

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Femtomes commented Feb 17, 2020

bkueng commented Feb 17, 2020

bys1123 commented Feb 17, 2020 • edited Loading

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bkueng commented Apr 15, 2020

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