removed gnss_full message

Author: JMoore5353

boards/varmint_h7

@@ -146,45 +146,9 @@ void Mavlink::send_gnss(uint8_t system_id, const GNSSData & data)
 {
   mavlink_message_t msg;
   mavlink_msg_rosflight_gnss_pack(
-    system_id, compid_, &msg, data.time_of_week, data.fix_type, data.time, data.nanos, data.lat,
-    data.lon, data.height, data.vel_n, data.vel_e, data.vel_d, data.h_acc, data.v_acc, data.ecef.x,
-    data.ecef.y, data.ecef.z, data.ecef.p_acc, data.ecef.vx, data.ecef.vy, data.ecef.vz,
-    data.ecef.s_acc, data.rosflight_timestamp);
-  send_message(msg);
-}
-
-void Mavlink::send_gnss_full(uint8_t system_id, const GNSSFull & full)
-{
-  mavlink_message_t msg;
-  mavlink_rosflight_gnss_full_t data = {};
-  data.time_of_week = full.time_of_week;
-  data.year = full.year;
-  data.month = full.month;
-  data.day = full.day;
-  data.hour = full.hour;
-  data.min = full.min;
-  data.sec = full.sec;
-  data.valid = full.valid;
-  data.t_acc = full.t_acc;
-  data.nano = full.nano;
-  data.fix_type = full.fix_type;
-  data.num_sat = full.num_sat;
-  data.lon = full.lon;
-  data.lat = full.lat;
-  data.height = full.height;
-  data.height_msl = full.height_msl;
-  data.h_acc = full.h_acc;
-  data.v_acc = full.v_acc;
-  data.vel_n = full.vel_n;
-  data.vel_e = full.vel_e;
-  data.vel_d = full.vel_d;
-  data.g_speed = full.g_speed;
-  data.head_mot = full.head_mot;
-  data.s_acc = full.s_acc;
-  data.head_acc = full.head_acc;
-  data.p_dop = full.p_dop;
-  data.rosflight_timestamp = full.rosflight_timestamp;
-  mavlink_msg_rosflight_gnss_full_encode(system_id, compid_, &msg, &data);
+    system_id, compid_, &msg, data.seconds, data.nanos, data.fix_type, data.year, data.month,
+    data.day, data.hour, data.min, data.sec, data.num_sat, data.lat, data.lon, data.height,
+    data.vel_n, data.vel_e, data.vel_d, data.h_acc, data.v_acc, data.s_acc);
   send_message(msg);
 }
 

comms/mavlink/mavlink.cpp

@@ -89,7 +89,6 @@ class Mavlink : public CommLinkInterface
   void send_timesync(uint8_t system_id, int64_t tc1, int64_t ts1) override;
   void send_version(uint8_t system_id, const char * const version) override;
   void send_gnss(uint8_t system_id, const GNSSData & data) override;
-  void send_gnss_full(uint8_t system_id, const GNSSFull & full) override;
   void send_error_data(uint8_t system_id, const StateManager::BackupData & error_data) override;
   void send_battery_status(uint8_t system_id, float voltage, float current) override;
 

comms/mavlink/mavlink.h

@@ -103,7 +103,7 @@ class Board
   // GPS
   virtual bool gnss_present() = 0;
   virtual bool gnss_has_new_data() = 0;
-  virtual bool gnss_read(GNSSData * gnss, GNSSFull * gnss_full) = 0;
+  virtual bool gnss_read(GNSSData * gnss) = 0;
 
   // Battery
   virtual bool battery_present() = 0;

comms/mavlink/v1.0

@@ -64,7 +64,6 @@ class CommManager : public CommLinkInterface::ListenerInterface, public ParamLis
 
     STREAM_ID_SERVO_OUTPUT_RAW,
     STREAM_ID_GNSS,
-    STREAM_ID_GNSS_FULL,
     STREAM_ID_RC_RAW,
     STREAM_ID_LOW_PRIORITY,
     STREAM_COUNT
@@ -157,7 +156,6 @@ class CommManager : public CommLinkInterface::ListenerInterface, public ParamLis
   void send_mag(void);
   void send_battery_status(void);
   void send_gnss(void);
-  void send_gnss_full(void);
   void send_low_priority(void);
 
   // Debugging Utils
@@ -167,7 +165,6 @@ class CommManager : public CommLinkInterface::ListenerInterface, public ParamLis
 
   // the time of week stamp for the last sent GNSS message, to prevent re-sending
   uint32_t last_sent_gnss_tow_ = 0;
-  uint32_t last_sent_gnss_full_tow_ = 0;
 
 public:
   CommManager(ROSflight & rf, CommLinkInterface & comm_link);

include/board.h

@@ -166,7 +166,6 @@ class CommLinkInterface
   virtual void send_timesync(uint8_t system_id, int64_t tc1, int64_t ts1) = 0;
   virtual void send_version(uint8_t system_id, const char * const version) = 0;
   virtual void send_gnss(uint8_t system_id, const GNSSData & data) = 0;
-  virtual void send_gnss_full(uint8_t system_id, const GNSSFull & data) = 0;
   virtual void send_error_data(uint8_t system_id, const StateManager::BackupData & error_data) = 0;
   virtual void send_battery_status(uint8_t system_id, float voltage, float current) = 0;
 

include/comm_manager.h

@@ -47,7 +47,6 @@ typedef struct
 {
   bool imu;
   bool gnss;
-  bool gnss_full;
   bool baro;
   bool mag;
   bool diff_pressure;
@@ -68,69 +67,29 @@ enum GNSSFixType
 
 struct GNSSData
 {
-  struct ECEF
-  {
-    int32_t x;      // cm
-    int32_t y;      // cm
-    int32_t z;      // cm
-    uint32_t p_acc; // cm
-    int32_t vx;     // cm/s
-    int32_t vy;     // cm/s
-    int32_t vz;     // cm/s
-    uint32_t s_acc; // cm/s
-  };
-
-  GNSSFixType fix_type;
-  uint32_t time_of_week;
-  uint64_t time;  // Unix time, in seconds
+  uint64_t time_of_week;  // Used internally to firmware for checking gnss
+                          // messages. Not included in ROS2 or MAVlink messages
+  uint64_t seconds;  // Unix time, in seconds
   uint64_t nanos; // Fractional time
-  int32_t lat;    // deg*10^-7
-  int32_t lon;    // deg*10^-7
-  int32_t height; // mm
-  int32_t vel_n;  // mm/s
-  int32_t vel_e;  // mm/s
-  int32_t vel_d;  // mm/s
-  uint32_t h_acc; // mm
-  uint32_t v_acc; // mm
-
-  ECEF ecef;
-
-  uint64_t rosflight_timestamp; // microseconds, time stamp of last byte in the message
-
-  GNSSData() { memset(this, 0, sizeof(GNSSData)); }
-};
-
-struct GNSSFull
-{
-  uint64_t time_of_week;
+  GNSSFixType fix_type;
   uint16_t year;
   uint8_t month;
   uint8_t day;
   uint8_t hour;
   uint8_t min;
   uint8_t sec;
-  uint8_t valid;
-  uint32_t t_acc;
-  int32_t nano;
-  uint8_t fix_type;
   uint8_t num_sat;
   int32_t lon;
   int32_t lat;
   int32_t height;
-  int32_t height_msl;
-  uint32_t h_acc;
-  uint32_t v_acc;
-  int32_t vel_n;
-  int32_t vel_e;
-  int32_t vel_d;
-  int32_t g_speed;
-  int32_t head_mot;
-  uint32_t s_acc;
-  uint32_t head_acc;
-  uint16_t p_dop;
-  uint64_t rosflight_timestamp; // microseconds, time stamp of last byte in the message
-
-  GNSSFull() { memset(this, 0, sizeof(GNSSFull)); }
+  int32_t vel_n;  // mm/s
+  int32_t vel_e;  // mm/s
+  int32_t vel_d;  // mm/s
+  uint32_t h_acc; // mm
+  uint32_t v_acc; // mm
+  uint32_t s_acc; // mm/s
+
+  GNSSData() { memset(this, 0, sizeof(GNSSData)); }
 };
 
 class ROSflight;
@@ -158,7 +117,6 @@ class Sensors : public ParamListenerInterface
     bool sonar_range_valid = false;
 
     GNSSData gnss_data;
-    GNSSFull gnss_full;
     float gps_CNO = 0; // What is this?
     bool gnss_present = false;
 

include/interface/comm_link.h

@@ -460,16 +460,6 @@ void CommManager::send_gnss(void)
   }
 }
 
-void CommManager::send_gnss_full()
-{
-  const GNSSFull & gnss_full = RF_.sensors_.data().gnss_full;
-
-  if (gnss_full.time_of_week != last_sent_gnss_full_tow_) {
-    comm_link_.send_gnss_full(sysid_, RF_.sensors_.data().gnss_full);
-    last_sent_gnss_full_tow_ = gnss_full.time_of_week;
-  }
-}
-
 void CommManager::send_low_priority(void)
 {
   send_next_param();
@@ -508,8 +498,6 @@ void CommManager::stream(got_flags got)
   if (got.battery) { send_battery_status(); }
   // GPS data (GNSS Packed)
   if (got.gnss) { send_gnss(); }
-  // GPS full data (not needed)
-  if (got.gnss_full) { send_gnss_full(); }
   if (got.rc) { send_rc_raw(); }
 
   {

include/sensors.h

@@ -159,9 +159,8 @@ got_flags Sensors::run()
     data_.gnss_present = true;
     if (rf_.board_.gnss_has_new_data()) {
       got.gnss = true;
-      rf_.board_.gnss_read(&this->data_.gnss_data, &this->data_.gnss_full);
+      rf_.board_.gnss_read(&this->data_.gnss_data);
     }
-    got.gnss_full = got.gnss; // bot come with the pvt GPS data
   }
 
   // BAROMETER: