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Author: peterbarker

libraries/AP_GPS/AP_GPS.cpp

@@ -297,6 +297,18 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
     AP_SUBGROUPINFO(params[5], "6_", 37, AP_GPS, AP_GPS::Params),
 #endif
 
+#if GPS_MAX_INSTANCES > 6
+    // @Group: 7_
+    // @Path: AP_GPS_Params.cpp
+    AP_SUBGROUPINFO(params[6], "7_", 38, AP_GPS, AP_GPS::Params),
+#endif
+
+#if GPS_MAX_INSTANCES > 7
+    // @Group: 8_
+    // @Path: AP_GPS_Params.cpp
+    AP_SUBGROUPINFO(params[7], "8_", 38, AP_GPS, AP_GPS::Params),
+#endif
+
     AP_GROUPEND
 };
 

libraries/AP_GPS/AP_GPS.h

@@ -149,7 +149,9 @@ class AP_GPS
 #if GPS_MOVING_BASELINE
         MovingBase mb_params;
 #endif // GPS_MOVING_BASELINE
-
+#if AP_GPS_BLENDED_ENABLED
+        AP_Int8 blend_mask;
+#endif
         static const struct AP_Param::GroupInfo var_info[];
     };
 

libraries/AP_GPS/AP_GPS_Blended.cpp

@@ -11,6 +11,25 @@
 
 #define BLEND_COUNTER_FAILURE_INCREMENT 10
 
+// returns true if the instance at offset i should be included in this blend
+bool AP_GPS_Blended::should_include_instance_in_blend(uint8_t i) const
+{
+    // do not blend blending backends (including this one!)  This
+    // probably wants to be a "gps.provides_real_sensor_data()"
+    // callback when we add a median-filter backend
+    if (gps.params[i].type == AP_GPS::GPS_TYPE_BLENDED) {
+        return false;
+    }
+    if (gps.state[i].status <= AP_GPS::GPS_OK_FIX_2D) {
+        return false;
+    }
+    if ((params.mask & (1U<<i)) == 0) {
+        return false;
+    }
+
+    return true;
+}
+
 /*
  calculate the weightings used to blend GPSs location and velocity data
 */
@@ -32,10 +51,7 @@ bool AP_GPS_Blended::_calc_weights(void)
         // don't blend blended backends (including ourself...).  This
         // probably wants to be a "gps.provides_real_sensor_data()"
         // callback when we add a median-filter backend
-        if (gps.params[i].type == AP_GPS::GPS_TYPE_BLENDED) {
-            continue;
-        }
-        if (gps.state[i].status <= AP_GPS::NO_FIX) {
+        if (!should_include_instance_in_blend(i)) {
             continue;
         }
         good_fix_count += 1;
@@ -50,9 +66,7 @@ bool AP_GPS_Blended::_calc_weights(void)
     uint32_t min_ms = -1; // oldest non-zero system time of arrival of a GPS message
     uint32_t max_rate_ms = 0; // largest update interval of a GPS receiver
     for (uint8_t i=0; i<GPS_MAX_INSTANCES; i++) {
-        // don't blend blended backends (including ourself...).  This
-        // probably wants to be a "gps.provides_real_sensor_data()"
-        // callback when we add a median-filter backend
+        // don't blend blended backends (including ourself...).  
         if (gps.params[i].type == AP_GPS::GPS_TYPE_BLENDED) {
             continue;
         }
@@ -252,7 +266,7 @@ bool AP_GPS_Blended::_calc_weights(void)
         // don't blend blended backends (including ourself...).  This
         // probably wants to be a "gps.provides_real_sensor_data()"
         // callback when we add a median-filter backend
-        if (gps.params[i].type == AP_GPS::GPS_TYPE_BLENDED) {
+        if (!should_include_instance_in_blend(i)) {
             continue;
         }
         _blend_weights[i] = (hpos_blend_weights[i] + vpos_blend_weights[i] + spd_blend_weights[i]) / sum_of_all_weights;

libraries/AP_GPS/AP_GPS_Blended.h

@@ -76,6 +76,9 @@ class AP_GPS_Blended : public AP_GPS_Backend
     AP_GPS::GPS_Status _highest_supported_status;
 
     float new_timing_last_message_time_ms;
+
+    // returns true if instance at offset i should be included in this blend
+    bool should_include_instance_in_blend(uint8_t i) const;
 };
 
 #endif  // AP_GPS_BLENDED_ENABLED

libraries/AP_GPS/AP_GPS_Params.cpp

@@ -113,6 +113,14 @@ const AP_Param::GroupInfo AP_GPS::Params::var_info[] = {
     AP_GROUPINFO("CAN_OVRIDE", 9, AP_GPS::Params, override_node_id, 0),
 #endif
 
+#if AP_GPS_BLENDED_ENABLED
+    // @Param: BLEND_MASK
+    // @DisplayName: Blended backend include mask
+    // @Description: If this is a blended backend then this mask specifies which backends should be included in 
+    // @User: Advanced
+    AP_GROUPINFO("BLEND_MASK", 9, AP_GPS::Params, blend_mask, 255),
+#endif
+
     AP_GROUPEND
 };