ardupilot & PX4 RTK配置指南

ardupilot & PX4 RTK配置指南

随着无人机对于高精度位置需求越来越强烈，同时也伴随着北斗三代导航系统正式服务全球，国产的实时载波相位差分（RTK）导航产品也正在以更优惠、更好用的形象进入无人航空器和无人车市场
NovAtel公司是精密全球导航卫星系统（GNSS）及其子系统领域中，处于领先地位的产品与技术供应商，可向客户提供丰厚的投资回报和出色的服务。作为一个通过ISO9001认证的公司，NovAtel 公司开发高质量的OEM产品，包括接收机、封装、天线和固件，这些产品都已集成到全世界高精度的定位应用中。这些应用有测绘、地理信息系统（GIS）、精密农业机械导航、港口自动化、采矿、授时和海事等行业领域。NovAtel公司的参考接收机也是某些国家的航空地面网的核心设备，如美国、日本、欧洲、中国和印度等。

目前诺瓦泰的导航报文协议在无人机行业中逐步扩展着占有率，国产厂商和芯星通、上海思南、北云科技等导航产品公司的产品，大多对该协议有很良好的支持。
下面就根据 ardupilot 源码中的数据解析代码来，看看如何配置我们的RTK导航板卡并接入ardupilot飞控

/*
   This program is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation, either version 3 of the License, or
   (at your option) any later version.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

//  Novatel/Tersus/ComNav GPS driver for ArduPilot.
//  Code by Michael Oborne
//  Derived from http://www.novatel.com/assets/Documents/Manuals/om-20000129.pdf

#include "AP_GPS.h"
#include "AP_GPS_NOVA.h"
#include <AP_Logger/AP_Logger.h>

extern const AP_HAL::HAL& hal;

#define NOVA_DEBUGGING 0

#if NOVA_DEBUGGING
#include <cstdio>
 # define Debug(fmt, args ...)                  \
do {                                            \
    printf("%s:%d: " fmt "\n",     \
                        __FUNCTION__, __LINE__, \
                        ## args);               \
    hal.scheduler->delay(1);                    \
} while(0)
#else
 # define Debug(fmt, args ...)
#endif

AP_GPS_NOVA::AP_GPS_NOVA(AP_GPS &_gps, AP_GPS::GPS_State &_state,
                       AP_HAL::UARTDriver *_port) :
    AP_GPS_Backend(_gps, _state, _port)
{
    nova_msg.nova_state = nova_msg_parser::PREAMBLE1;

    const char *init_str = _initialisation_blob[0];
    const char *init_str1 = _initialisation_blob[1];
    
    port->write((const uint8_t*)init_str, strlen(init_str));
    port->write((const uint8_t*)init_str1, strlen(init_str1));
}

const char* const AP_GPS_NOVA::_initialisation_blob[6] {
    "\r\n\r\nunlogall\r\n", // cleanup enviroment
    "log bestposb ontime 0.2 0 nohold\r\n", // get bestpos
    "log bestvelb ontime 0.2 0 nohold\r\n", // get bestvel
    "log psrdopb onchanged\r\n", // tersus
    "log psrdopb ontime 0.2\r\n", // comnav
    "log psrdopb\r\n" // poll message, as dop only changes when a sat is dropped/added to the visible list
};

// Process all bytes available from the stream
//
bool
AP_GPS_NOVA::read(void)
{
    uint32_t now = AP_HAL::millis();

    if (_init_blob_index < (sizeof(_initialisation_blob) / sizeof(_initialisation_blob[0]))) {
        const char *init_str = _initialisation_blob[_init_blob_index];

        if (now > _init_blob_time) {
            port->write((const uint8_t*)init_str, strlen(init_str));
            _init_blob_time = now + 200;
            _init_blob_index++;
        }
    }

    bool ret = false;
    while (port->available() > 0) {
        uint8_t temp = port->read();
        ret |= parse(temp);
    }
    
    return ret;
}

bool
AP_GPS_NOVA::parse(uint8_t temp)
{
    switch (nova_msg.nova_state)
    {
        default:
        case nova_msg_parser::PREAMBLE1:
            if (temp == NOVA_PREAMBLE1)
                nova_msg.nova_state = nova_msg_parser::PREAMBLE2;
            nova_msg.read = 0;
            break;
        case nova_msg_parser::PREAMBLE2:
            if (temp == NOVA_PREAMBLE2)
            {
                nova_msg.nova_state = nova_msg_parser::PREAMBLE3;
            }
            else
            {
                nova_msg.nova_state = nova_msg_parser::PREAMBLE1;
            }
            break;
        case nova_msg_parser::PREAMBLE3:
            if (temp == NOVA_PREAMBLE3)
            {
                nova_msg.nova_state = nova_msg_parser::HEADERLENGTH;
            }
            else
            {
                nova_msg.nova_state = nova_msg_parser::PREAMBLE1;
            }
            break;
        case nova_msg_parser::HEADERLENGTH:
            Debug("NOVA HEADERLENGTH\n");
            nova_msg.header.data[0] = NOVA_PREAMBLE1;
            nova_msg.header.data[1] = NOVA_PREAMBLE2;
            nova_msg.header.data[2] = NOVA_PREAMBLE3;
            nova_msg.header.data[3] = temp;
            nova_msg.header.nova_headeru.headerlength = temp;
            nova_msg.nova_state = nova_msg_parser::HEADERDATA;
            nova_msg.read = 4;
            break;
        case nova_msg_parser::HEADERDATA:
            if (nova_msg.read >= sizeof(nova_msg.header.data)) {
                Debug("parse header overflow length=%u\n", (unsigned)nova_msg.read);
                nova_msg.nova_state = nova_msg_parser::PREAMBLE1;
                break;
            }
            nova_msg.header.data[nova_msg.read] = temp;
            nova_msg.read++;
            if (nova_msg.read >= nova_msg.header.nova_headeru.headerlength)
            {
                nova_msg.nova_state = nova_msg_parser::DATA;
            }
            break;
        case nova_msg_parser::DATA:
            if (nova_msg.read >= sizeof(nova_msg.data)) {
                Debug("parse data overflow length=%u msglength=%u\n", (unsigned)nova_msg.read,nova_msg.header.nova_headeru.messagelength);
                nova_msg.nova_state = nova_msg_parser::PREAMBLE1;
                break;
            }
            nova_msg.data.bytes[nova_msg.read - nova_msg.header.nova_headeru.headerlength] = temp;
            nova_msg.read++;
            if (nova_msg.read >= (nova_msg.header.nova_headeru.messagelength + nova_msg.header.nova_headeru.headerlength))
            {
                Debug("NOVA DATA exit\n");
                nova_msg.nova_state = nova_msg_parser::CRC1;
            }
            break;
        case nova_msg_parser::CRC1:
            nova_msg.crc = (uint32_t) (temp << 0);
            nova_msg.nova_state = nova_msg_parser::CRC2;
            break;
        case nova_msg_parser::CRC2:
            nova_msg.crc += (uint32_t) (temp << 8);
            nova_msg.nova_state = nova_msg_parser::CRC3;
            break;
        case nova_msg_parser::CRC3:
            nova_msg.crc += (uint32_t) (temp << 16);
            nova_msg.nova_state = nova_msg_parser::CRC4;
            break;
        case nova_msg_parser::CRC4:
            nova_msg.crc += (uint32_t) (temp << 24);
            nova_msg.nova_state = nova_msg_parser::PREAMBLE1;

            uint32_t crc = CalculateBlockCRC32((uint32_t)nova_msg.header.nova_headeru.headerlength, (uint8_t *)&nova_msg.header.data, (uint32_t)0);
            crc = CalculateBlockCRC32((uint32_t)nova_msg.header.nova_headeru.messagelength, (uint8_t *)&nova_msg.data, crc);

            if (nova_msg.crc == crc)
            {
                return process_message();
            }
            else
            {
                Debug("crc failed");
                crc_error_counter++;
            }
            break;
    }

    return false;
}

bool
AP_GPS_NOVA::process_message(void)
{
    uint16_t messageid = nova_msg.header.nova_headeru.messageid;

    Debug("NOVA process_message messid=%u\n",messageid);

    check_new_itow(nova_msg.header.nova_headeru.tow, nova_msg.header.nova_headeru.messagelength + nova_msg.header.nova_headeru.headerlength);
    
    if (messageid == 42) // bestpos
    {
        const bestpos &bestposu = nova_msg.data.bestposu;

        state.time_week = nova_msg.header.nova_headeru.week;
        state.time_week_ms = (uint32_t) nova_msg.header.nova_headeru.tow;
        state.last_gps_time_ms = AP_HAL::millis();

        state.location.lat = (int32_t) (bestposu.lat * (double)1e7);
        state.location.lng = (int32_t) (bestposu.lng * (double)1e7);
        state.location.alt = (int32_t) (bestposu.hgt * 100);

        state.num_sats = bestposu.svsused;

        state.horizontal_accuracy = (float) ((bestposu.latsdev + bestposu.lngsdev)/2);
        state.vertical_accuracy = (float) bestposu.hgtsdev;
        state.have_horizontal_accuracy = true;
        state.have_vertical_accuracy = true;
        state.rtk_age_ms = bestposu.diffage * 1000;
        state.rtk_num_sats = bestposu.svsused;

        if (bestposu.solstat == 0) // have a solution
        {
            switch (bestposu.postype)
            {
                case 16:
                    state.status = AP_GPS::GPS_OK_FIX_3D;
                    break;
                case 17: // psrdiff
                case 18: // waas
                case 20: // omnistar
                case 68: // ppp_converg
                case 69: // ppp
                    state.status = AP_GPS::GPS_OK_FIX_3D_DGPS;
                    break;
                case 32: // l1 float
                case 33: // iono float
                case 34: // narrow float
                    state.status = AP_GPS::GPS_OK_FIX_3D_RTK_FLOAT;
                    break;
                case 48: // l1 int
                case 50: // narrow int
                    state.status = AP_GPS::GPS_OK_FIX_3D_RTK_FIXED;
                    break;
                case 0: // NONE
                case 1: // FIXEDPOS
                case 2: // FIXEDHEIGHT
                default:
                    state.status = AP_GPS::NO_FIX;
                    break;
            }
        }
        else
        {
            state.status = AP_GPS::NO_FIX;
        }
        
        _new_position = true;
    }

    if (messageid == 99) // bestvel
    {
        const bestvel &bestvelu = nova_msg.data.bestvelu;

        state.ground_speed = (float) bestvelu.horspd;
        state.ground_course = (float) bestvelu.trkgnd;
        fill_3d_velocity();
        state.velocity.z = -(float) bestvelu.vertspd;
        state.have_vertical_velocity = true;
        
        _last_vel_time = (uint32_t) nova_msg.header.nova_headeru.tow;
        _new_speed = true;
    }

    if (messageid == 174) // psrdop
    {
        const psrdop &psrdopu = nova_msg.data.psrdopu;

        state.hdop = (uint16_t) (psrdopu.hdop*100);
        state.vdop = (uint16_t) (psrdopu.htdop*100);
        return false;
    }

    // ensure out position and velocity stay insync
    if (_new_position && _new_speed && _last_vel_time == state.time_week_ms) {
        _new_speed = _new_position = false;
        
        return true;
    }
    
    return false;
}

void
AP_GPS_NOVA::inject_data(const uint8_t *data, uint16_t len)
{
    if (port->txspace() > len) {
        last_injected_data_ms = AP_HAL::millis();
        port->write(data, len);
    } else {
        Debug("NOVA: Not enough TXSPACE");
    }
}

#define CRC32_POLYNOMIAL 0xEDB88320L
uint32_t AP_GPS_NOVA::CRC32Value(uint32_t icrc)
{
    int i;
    uint32_t crc = icrc;
    for ( i = 8 ; i > 0; i-- )
    {
        if ( crc & 1 )
            crc = ( crc >> 1 ) ^ CRC32_POLYNOMIAL;
        else
            crc >>= 1;
    }
    return crc;
}

uint32_t AP_GPS_NOVA::CalculateBlockCRC32(uint32_t length, uint8_t *buffer, uint32_t crc)
{
    while ( length-- != 0 )
    {
        crc = ((crc >> 8) & 0x00FFFFFFL) ^ (CRC32Value(((uint32_t) crc ^ *buffer++) & 0xff));
    }
    return( crc );
}

#pragma once

#include "AP_GPS.h"
#include "GPS_Backend.h"

class AP_GPS_NOVA : public AP_GPS_Backend
{
public:
    AP_GPS_NOVA(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port);

    AP_GPS::GPS_Status highest_supported_status(void) override { return AP_GPS::GPS_OK_FIX_3D_RTK_FIXED; }

    // Methods
    bool read() override;

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

    const char *name() const override { return "NOVA"; }

private:

    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);

    static const uint8_t NOVA_PREAMBLE1 = 0xaa;
    static const uint8_t NOVA_PREAMBLE2 = 0x44;
    static const uint8_t NOVA_PREAMBLE3 = 0x12;

    // do we have new position information?
    bool            _new_position:1;
    // do we have new speed information?
    bool            _new_speed:1;
    
    uint32_t        _last_vel_time;
    
    uint8_t _init_blob_index = 0;
    uint32_t _init_blob_time = 0;
    static const char* const _initialisation_blob[6];
   
    uint32_t crc_error_counter = 0;
    uint32_t last_injected_data_ms = 0;

    struct PACKED nova_header
    {
        // 0
        uint8_t preamble[3];
        // 3
        uint8_t headerlength;
        // 4
        uint16_t messageid;
        // 6
        uint8_t messagetype;
        //7
        uint8_t portaddr;
        //8
        uint16_t messagelength;
        //10
        uint16_t sequence;
        //12
        uint8_t idletime;
        //13
        uint8_t timestatus;
        //14
        uint16_t week;
        //16
        uint32_t tow;
        //20
        uint32_t recvstatus;
        // 24
        uint16_t resv;
        //26
        uint16_t recvswver;
    };    

    struct PACKED psrdop
    {
        float gdop;
        float pdop;
        float hdop;
        float htdop;
        float tdop;
        float cutoff;
        uint32_t svcount;
        // extra data for individual prns
    };

    struct PACKED bestpos
    {
        uint32_t solstat;      ///< Solution status
        uint32_t postype;      ///< Position type
        double lat;            ///< latitude (deg)
        double lng;            ///< longitude (deg)
        double hgt;            ///< height above mean sea level (m)
        float undulation;      ///< relationship between the geoid and the ellipsoid (m)
        uint32_t datumid;      ///< datum id number
        float latsdev;         ///< latitude standard deviation (m)
        float lngsdev;         ///< longitude standard deviation (m)
        float hgtsdev;         ///< height standard deviation (m)
        // 4 bytes
        uint8_t stnid[4];      ///< base station id
        float diffage;         ///< differential position age (sec)
        float sol_age;         ///< solution age (sec)
        uint8_t svstracked;    ///< number of satellites tracked
        uint8_t svsused;       ///< number of satellites used in solution
        uint8_t svsl1;         ///< number of GPS plus GLONASS L1 satellites used in solution
        uint8_t svsmultfreq;   ///< number of GPS plus GLONASS L2 satellites used in solution
        uint8_t resv;          ///< reserved
        uint8_t extsolstat;    ///< extended solution status - OEMV and greater only
        uint8_t galbeisigmask;
        uint8_t gpsglosigmask;
    };

    struct PACKED bestvel
    {
        uint32_t solstat;
        uint32_t veltype;
        float latency;
        float age;
        double horspd;
        double trkgnd;
        // + up
        double vertspd;
        float resv;
    };
    
    union PACKED msgbuffer {
        bestvel bestvelu;
        bestpos bestposu;
        psrdop psrdopu;
        uint8_t bytes[256];
    };
    
    union PACKED msgheader {
        nova_header nova_headeru;
        uint8_t data[28];
    };

    struct PACKED nova_msg_parser
    {
        enum
        {
            PREAMBLE1 = 0,
            PREAMBLE2,
            PREAMBLE3,
            HEADERLENGTH,
            HEADERDATA,
            DATA,
            CRC1,
            CRC2,
            CRC3,
            CRC4,
        } nova_state;
        
        msgbuffer data;
        uint32_t crc;
        msgheader header;
        uint16_t read;
    } nova_msg;
};

代码解读

const char* const AP_GPS_NOVA::_initialisation_blob[6] {
    "\r\n\r\nunlogall\r\n", // cleanup enviroment
    "log bestposb ontime 0.2 0 nohold\r\n", // get bestpos
    "log bestvelb ontime 0.2 0 nohold\r\n", // get bestvel
    "log psrdopb onchanged\r\n", // tersus
    "log psrdopb ontime 0.2\r\n", // comnav
    "log psrdopb\r\n" // poll message, as dop only changes when a sat is dropped/added to the visible list
};

从初始化配置代码中解析的卫星报文主要包括 BESTPOSB、PSRDOPB、BESTVELB 这三种。在mission planner 地面站中勾选GPS_TYPE为15并保存参数，飞控即可完成板卡的自动配置。
unlogall
log bestposb ontime 0.2 0 nohold
log bestvelb ontime 0.2 0 nohold
log psrdopb onchanged
log psrdopb ontime 0.2