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AP_GPS: make receiver logging configurable through parameters
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Add parameters that allow users to configure logging from within their ground
control station software.
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@flyingthingsintothings
flyingthingsintothings committed Mar 7, 2024
1 parent 6905965 commit 50b8066
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Showing 4 changed files with 127 additions and 1 deletion.
25 changes: 25 additions & 0 deletions libraries/AP_GPS/AP_GPS.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -427,6 +427,31 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
#endif // GPS_MAX_RECEIVERS > 1
#endif // HAL_ENABLE_DRONECAN_DRIVERS

// @Param: _LOG_HZ
// @DisplayName: Log frequency
// @Description: The frequency with which the receiver logs information.
// @Units: Hz
// @Values: 0:Off, 1:0.1Hz, 2:0.2Hz, 5:0.5Hz, 10:1Hz, 20:2Hz, 50:5Hz, 80:8Hz, 100:10Hz, 200:20Hz
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("_LOG_HZ", 32, AP_GPS, _logging_frequency, 1),

// @Param: _LOG_LEVEL
// @DisplayName: Log level
// @Description: The level of detail the receiver should log.
// @Values: 0:Lite, 1:Basic, 2:Default, 3:Full
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("_LOG_LEVEL", 33, AP_GPS, _logging_level, 2),

// @Param: _LOG_FORCE
// @DisplayName: Log overwrite
// @Description: Whether logging setup should overwrite existing logging on the receiver.
// @Values: 0:Disabled, 1:Enabled
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("_LOG_FORCE", 34, AP_GPS, _logging_overwrite, 0),

AP_GROUPEND
};

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25 changes: 25 additions & 0 deletions libraries/AP_GPS/AP_GPS.h
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Original file line number Diff line number Diff line change
Expand Up @@ -179,6 +179,28 @@ class AP_GPS
KNOWN = 3, ///< The full covariance array is reported by the GPS
};

// Interpretation of logging frequency values
enum GPS_Logging_Frequency {
OFF = 0,
HZ_0_1 = 1,
HZ_0_2 = 2,
HZ_0_5 = 5,
HZ_1 = 10,
HZ_2 = 20,
HZ_5 = 50,
HZ_8 = 80,
HZ_10 = 100,
HZ_20 = 200,
};

// GPS receiver log level which determines what data is logged
enum GPS_Logging_Level {
LITE = 0,
BASIC = 1,
DEFAULT = 2,
FULL = 3,
};

/*
The GPS_State structure is filled in by the backend driver as it
parses each message from the GPS.
Expand Down Expand Up @@ -613,6 +635,9 @@ class AP_GPS
AP_Int32 _node_id[GPS_MAX_RECEIVERS];
AP_Int32 _override_node_id[GPS_MAX_RECEIVERS];
#endif
AP_Int16 _logging_frequency; // frequency at which the receiver should log messages
AP_Int8 _logging_level; // amount of details the receiver should log
AP_Int8 _logging_overwrite; // whether to override existing logging on the receiver or add to it
#if GPS_MOVING_BASELINE
MovingBase mb_params[GPS_MAX_RECEIVERS];
#endif // GPS_MOVING_BASELINE
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76 changes: 76 additions & 0 deletions libraries/AP_GPS/AP_GPS_SBF.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,6 +45,9 @@ do { \
#ifndef GPS_SBF_STREAM_NUMBER
#define GPS_SBF_STREAM_NUMBER 1
#endif
#ifndef GPS_SBF_LOG_STREAM_NUMBER
#define GPS_SBF_LOG_STREAM_NUMBER 2
#endif

#define SBF_EXCESS_COMMAND_BYTES 5 // 2 start bytes + validity byte + space byte + endline byte

Expand Down Expand Up @@ -135,6 +138,76 @@ AP_GPS_SBF::read(void)
extra_config) == -1) {
config_string = nullptr;
}
break;
case Config_State::Log:
if (gps._logging_frequency == AP_GPS::GPS_Logging_Frequency::OFF && gps._logging_overwrite) {
// hard-disable logging, clear existing stream
if (asprintf(&config_string, "sso,Stream%d,none,none,off\n", (int)GPS_SBF_LOG_STREAM_NUMBER) == -1) {
config_string = nullptr;
}
} else if (gps._logging_frequency == AP_GPS::GPS_Logging_Frequency::OFF) {
// soft-disable logging, keep existing stream
if (asprintf(&config_string, "sso,Stream%d,,,off\n", (int)GPS_SBF_LOG_STREAM_NUMBER) == -1) {
config_string = nullptr;
}
} else {
// enable logging
const char *logging_frequency;
switch (gps._logging_frequency) {
case AP_GPS::GPS_Logging_Frequency::HZ_0_1:
logging_frequency = "sec10";
break;
case AP_GPS::GPS_Logging_Frequency::HZ_0_2:
logging_frequency = "sec5";
break;
case AP_GPS::GPS_Logging_Frequency::HZ_0_5:
logging_frequency = "sec2";
break;
case AP_GPS::GPS_Logging_Frequency::HZ_1:
default:
logging_frequency = "sec1";
break;
case AP_GPS::GPS_Logging_Frequency::HZ_2:
logging_frequency = "msec500";
break;
case AP_GPS::GPS_Logging_Frequency::HZ_5:
logging_frequency = "msec200";
break;
case AP_GPS::GPS_Logging_Frequency::HZ_8:
case AP_GPS::GPS_Logging_Frequency::HZ_10:
logging_frequency = "msec100";
break;
case AP_GPS::GPS_Logging_Frequency::HZ_20:
logging_frequency = "msec50";
break;
}

const char* logged_blocks;
switch (gps._logging_level) {
case AP_GPS::GPS_Logging_Level::LITE:
logged_blocks = "comment+ReceiverStatus";
break;
case AP_GPS::GPS_Logging_Level::BASIC:
logged_blocks = "comment+ReceiverStatus+PostProcess+Event";
break;
case AP_GPS::GPS_Logging_Level::DEFAULT:
default:
logged_blocks = "comment+ReceiverStatus+PostProcess+Event+Support";
break;
case AP_GPS::GPS_Logging_Level::FULL:
logged_blocks = "comment+ReceiverStatus+PostProcess+Event+support+BBSamples";
break;
}

if (asprintf(&config_string, "sso,Stream%d,Dsk1,%s%s,%s\n",
(int)GPS_SBF_LOG_STREAM_NUMBER,
gps._logging_overwrite ? "" : "+",
logged_blocks,
logging_frequency) == -1) {
config_string = nullptr;
}
}

break;
case Config_State::Blob:
if (asprintf(&config_string, "%s\n", _initialisation_blob[_init_blob_index]) == -1) {
Expand Down Expand Up @@ -362,6 +435,9 @@ AP_GPS_SBF::parse(uint8_t temp)
config_step = Config_State::SSO;
break;
case Config_State::SSO:
config_step = Config_State::Log;
break;
case Config_State::Log:
config_step = Config_State::Blob;
break;
case Config_State::Blob:
Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_GPS/AP_GPS_SBF.h
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Original file line number Diff line number Diff line change
Expand Up @@ -73,6 +73,7 @@ class AP_GPS_SBF : public AP_GPS_Backend
enum class Config_State {
Baud_Rate,
SSO,
Log,
Blob,
SBAS,
SGA,
Expand All @@ -84,7 +85,6 @@ class AP_GPS_SBF : public AP_GPS_Backend
"srd,Moderate,UAV",
"sem,PVT,5",
"spm,Rover,all",
"sso,Stream2,Dsk1,postprocess+event+comment+ReceiverStatus,msec100",
#if defined (GPS_SBF_EXTRA_CONFIG)
GPS_SBF_EXTRA_CONFIG
#endif
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