FEATURE: Add GNSS2 support

BLOG-discuss2.md

@@ -17,7 +17,7 @@ After it is set, do another flight and [check that the windspeed and direction a
 
 Follow [ArduCopter's baro compensation Wiki](https://ardupilot.org/copter/docs/airspeed-estimation.html#barometer-position-error-compensation) and/or use the [Lua script provided by Yuri in the forum](https://discuss.ardupilot.org/t/scripting-copter-wind-estimation-baro-compensation-tuning/98470/).
 
-Use *ArduPilot Methodic Configurator* to edit and upload the `41_barometer_compensation.param` file to the FC.
+Use *ArduPilot Methodic Configurator* to edit and upload the `42_barometer_compensation.param` file to the FC.
 
 Now do the flight to collect the data and analyze the logs to see if the barometer is correctly compensated and insensitive to wind.
 
@@ -30,25 +30,25 @@ Documentation is available on [Fabian Bredemeier's Identification of a multicopt
 
 ## Roll rate mathematical model
 
-Use *ArduPilot Methodic Configurator* to edit and upload the `42_system_id_roll.param` file to the FC.
+Use *ArduPilot Methodic Configurator* to edit and upload the `43_system_id_roll.param` file to the FC.
 
 Now do the flight to collect the data for the roll rate system identification.
 
 ## Pitch rate mathematical model
 
-Use *ArduPilot Methodic Configurator* to edit and upload the `43_system_id_pitch.param` file to the FC.
+Use *ArduPilot Methodic Configurator* to edit and upload the `44_system_id_pitch.param` file to the FC.
 
 Now do the flight to collect the data for the pitch rate system identification.
 
 ## Yaw rate mathematical model
 
-Use *ArduPilot Methodic Configurator* to edit and upload the `44_system_id_yaw.param` file to the FC.
+Use *ArduPilot Methodic Configurator* to edit and upload the `45_system_id_yaw.param` file to the FC.
 
 Now do the flight to collect the data for the yaw rate system identification.
 
 ## Thrust mathematical model
 
-Use *ArduPilot Methodic Configurator* to edit and upload the `45_system_id_thrust.param` file to the FC.
+Use *ArduPilot Methodic Configurator* to edit and upload the `46_system_id_thrust.param` file to the FC.
 
 Now do the flight to collect the data for the thrust system identification.
 
@@ -58,31 +58,31 @@ This describes how to use IAV's multi-objective optimization to achieve even bet
 
 One other approach is described by Bill Geyer in his Blog post: [Predicting Closed Loop Response For Faster Autotune](https://discuss.ardupilot.org/t/predicting-closed-loop-response-for-faster-autotune/75096).
 
-Use *ArduPilot Methodic Configurator* to edit and upload the `46_analytical_pid_optimization.param` file to the FC.
+Use *ArduPilot Methodic Configurator* to edit and upload the `47_analytical_pid_optimization.param` file to the FC.
 
 # 14. Productive configuration
 
 Some changes should be made for everyday productive operation.
 
-Use *ArduPilot Methodic Configurator* to edit and upload the `47_everyday_use.param` file to the FC.
+Use *ArduPilot Methodic Configurator* to edit and upload the `48_everyday_use.param` file to the FC.
 
 # 15. Position controller
 
 The most inner *angle rate* and *angle* control loops have been tuned. Now let's tune the position controller.
 
-Use *ArduPilot Methodic Configurator* to edit and upload the `48_position_controller.param` file to the FC.
+Use *ArduPilot Methodic Configurator* to edit and upload the `49_position_controller.param` file to the FC.
 
 # 16. Precision land
 
 These are **optional**, and only make sense if you have extra hardware on your vehicle to support it.
 
-Use *ArduPilot Methodic Configurator* to edit and upload the `49_precision_land.param` file to the FC.
+Use *ArduPilot Methodic Configurator* to edit and upload the `50_precision_land.param` file to the FC.
 
 # 17. Guided operation without RC transmitter
 
 These are **optional**, and only make sense if you do beyond visual line-of-sight (BVLOS) autonomous flights using a companion computer.
 
-Use *ArduPilot Methodic Configurator* to edit and upload the `50_guided_operation.param` file to the FC.
+Use *ArduPilot Methodic Configurator* to edit and upload the `51_guided_operation.param` file to the FC.
 
 # 18. Conclusion
 

MethodicConfigurator/annotate_params.py

@@ -548,7 +548,7 @@ def update_parameter_documentation(doc: Dict[str, Any], target: str = '.',
     # Iterate over all the target ArduPilot parameter files
     for param_file in param_files:
 
-        if os_path.basename(param_file).endswith("24_inflight_magnetometer_fit_setup.param") and "MAGH_ALT_DELTA" not in doc:
+        if os_path.basename(param_file).endswith("25_inflight_magnetometer_fit_setup.param") and "MAGH_ALT_DELTA" not in doc:
             continue
 
         # Read the entire file contents
@@ -559,7 +559,7 @@ def update_parameter_documentation(doc: Dict[str, Any], target: str = '.',
 
 def update_parameter_documentation_file(doc, sort_type, param_default_dict, param_file, lines):  # pylint: disable=too-many-locals
     new_lines = []
-    if os_path.basename(param_file).endswith("16_pid_adjustment.param"):
+    if os_path.basename(param_file).endswith("17_pid_adjustment.param"):
         new_lines.extend(lines[0:7])  # copy the first 8 lines verbatim
 
     total_params = 0
@@ -641,7 +641,7 @@ def main():
                                                         xml_dir, LUA_PARAM_DEFINITION_XML_FILE)
             doc_dict = create_doc_dict(xml_root, args.vehicle_type, args.max_line_length)
             update_parameter_documentation(doc_dict, os_path.join(os_path.dirname(args.target),
-                                                                  "24_inflight_magnetometer_fit_setup.param"))
+                                                                  "25_inflight_magnetometer_fit_setup.param"))
     except Exception as exp:  # pylint: disable=W0718
         logging.fatal(exp)
         exit(1)  # pylint: disable=R1722

MethodicConfigurator/frontend_tkinter_component_editor.py

@@ -79,6 +79,11 @@ def update_json_data(self):
         if 'Chemistry' not in self.data['Components']['Battery']['Specifications']:
             self.data['Components']['Battery']['Specifications']['Chemistry'] = "Lipo"
 
+        if 'Components' not in self.data:
+            self.data['Components'] = {}
+        if 'GNSS receiver' in self.data['Components']:
+            self.data['Components']['GNSS receiver1'] = self.data['Components'].pop('GNSS receiver')
+
     def set_vehicle_type_and_version(self, vehicle_type: str, version: str):
         self.data['Components']['Flight Controller']['Firmware']['Type'] = vehicle_type
         entry = self.entry_widgets[('Flight Controller', 'Firmware', 'Type')]

MethodicConfigurator/param_pid_adjustment_update.py

@@ -32,9 +32,9 @@ def parse_arguments():
 It loads three sets of parameters from files in the DIRECTORY directory:
     00_default.param - the (complete) default parameters,
     optimized_param_file - the (complete) optimized parameters, and
-    16_pid_adjustment.param - the (intermediate) PID adjustment parameters.
+    17_pid_adjustment.param - the (intermediate) PID adjustment parameters.
 It calculates the PID adjustment parameter values based on the ADJUSTMENT_FACTOR argument.
-It updates the intermediate parameter file 16_pid_adjustment.param with parameter comments
+It updates the intermediate parameter file 17_pid_adjustment.param with parameter comments
 explaining how their new value relates to the default parameter value.
 """)
     parser.add_argument("-d", "--directory",
@@ -155,7 +155,7 @@ def update_pid_adjustment_params(directory: str, optimized_param_file: str, adju
     """
     default_param_file_path = os.path.join(directory, "00_default.param")
     optimized_param_file_path = os.path.join(directory, optimized_param_file)
-    pid_adjustment_file_path = os.path.join(directory, "16_pid_adjustment.param")
+    pid_adjustment_file_path = os.path.join(directory, "17_pid_adjustment.param")
 
     # Load the default parameter file into a dictionary (comment source)
     default_params_dict, _ = Par.load_param_file_into_dict(default_param_file_path)
@@ -203,7 +203,7 @@ def main():
     # export the updated PID adjust parameters to a file, preserving the first eight header lines
     Par.export_to_param(pid_adjustment_params_dict, pid_adjustment_file_path, content_header)
     # annotate each parameter with up-to date documentation
-    subprocess.run(['./annotate_params.py', os.path.join(args.directory, "16_pid_adjustment.param")], check=True)
+    subprocess.run(['./annotate_params.py', os.path.join(args.directory, "17_pid_adjustment.param")], check=True)
 
 
 if __name__ == "__main__":

unittests/param_pid_adjustment_update_test.py

@@ -224,7 +224,7 @@ def setUp(self):
         os.mkdir(self.test_dir)
         # Create a default, adjustment and optimized parameter file for testing
         self.default_param_file = os.path.join(self.test_dir, '00_default.param')
-        self.adjustment_param_file = os.path.join(self.test_dir, '16_pid_adjustment.param')
+        self.adjustment_param_file = os.path.join(self.test_dir, '17_pid_adjustment.param')
         self.optimized_param_file = os.path.join(self.test_dir, 'optimized_parameter_file.param')
         with open(self.default_param_file, 'w', encoding='utf-8') as f:
             f.write('PARAM1,1.0\nPARAM2,2.0\nPARAM3,3.0\n')
@@ -296,7 +296,7 @@ def test_empty_adjustment_file(self):
         with self.assertRaises(SystemExit) as cm:
             update_pid_adjustment_params(self.test_dir, os.path.basename(self.optimized_param_file), 0.5)
         self.assertEqual(cm.exception.args[0],
-                         "Failed to load PID adjustment parameters from test_directory/16_pid_adjustment.param")
+                         "Failed to load PID adjustment parameters from test_directory/17_pid_adjustment.param")
 
     def test_zero_default_value(self):
         # Set a parameter in the default parameter file to zero

vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.1-params/10_gnss2.param

@@ -0,0 +1,80 @@
+# GNSS system configuration
+# Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)
+# Bitmask: 0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLONASS
+# Default: 0
+GPS_GNSS_MODE2,7  # limit the constalations to ensure an update rate higher than 5Hz
+
+# Antenna X position offset
+# X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase
+# centroid location if provided by the manufacturer.
+# Units: m (meters)
+# Range: -5 5
+# Increment: 0.01
+# Default: 0
+GPS_POS2_X,0.056  # HX-CH7604A GNSS antenna pahse center location relative to CG
+
+# Antenna Y position offset
+# Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna
+# phase centroid location if provided by the manufacturer.
+# Units: m (meters)
+# Range: -5 5
+# Increment: 0.01
+# Default: 0
+GPS_POS2_Y,0  # HX-CH7604A GNSS antenna pahse center location relative to CG
+
+# Antenna Z position offset
+# Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase
+# centroid location if provided by the manufacturer.
+# Units: m (meters)
+# Range: -5 5
+# Increment: 0.01
+# Default: 0
+GPS_POS2_Z,-0.07  # HX-CH7604A GNSS antenna pahse center location relative to CG
+
+# 1st GPS type
+# GPS type of 1st GPS
+# RebootRequired: True
+# 0: None                                              15: NOVA
+# 1: AUTO                                              16: HemisphereNMEA
+# 2: uBlox                                             17: uBlox-MovingBaseline-Base
+# 5: NMEA                                              18: uBlox-MovingBaseline-Rover
+# 6: SiRF                                              19: MSP
+# 7: HIL                                               20: AllyStar
+# 8: SwiftNav                                          21: ExternalAHRS
+# 9: DroneCAN                                          22: DroneCAN-MovingBaseline-Base
+# 10: SBF                                              23: DroneCAN-MovingBaseline-Rover
+# 11: GSOF                                             24: UnicoreNMEA
+# 13: ERB                                              25: UnicoreMovingBaselineNMEA
+# 14: MAV                                              26: SBF-DualAntenna
+# Default: 1
+GPS_TYPE2,2  # Defined in component editor
+
+# Serial 4 (GPS) protocol selection
+# Control what protocol Serial 4 (GPS) should be used for. Note that the Frsky options require external
+# converter hardware. See the wiki for details.
+# RebootRequired: True
+# -1: None                                             25: LTM
+# 1: MAVLink1                                          26: RunCam
+# 2: MAVLink2                                          27: HottTelem
+# 3: Frsky D                                           28: Scripting
+# 4: Frsky SPort                                       29: Crossfire VTX
+# 5: GPS                                               30: Generator
+# 7: Alexmos Gimbal Serial                             31: Winch
+# 8: Gimbal                                            32: MSP
+# 9: Rangefinder                                       33: DJI FPV
+# 10: FrSky SPort Passthrough (OpenTX)                 34: AirSpeed
+# 11: Lidar360                                         35: ADSB
+# 13: Beacon                                           36: AHRS
+# 14: Volz servo out                                   37: SmartAudio
+# 15: SBus servo out                                   38: FETtecOneWire
+# 16: ESC Telemetry                                    39: Torqeedo
+# 17: Devo Telemetry                                   40: AIS
+# 18: OpticalFlow                                      41: CoDevESC
+# 19: RobotisServo                                     42: DisplayPort
+# 20: NMEA Output                                      43: MAVLink High Latency
+# 21: WindVane                                         44: IRC Tramp
+# 22: SLCAN                                            45: DDS XRCE
+# 23: RCIN                                             46: IMUDATA
+# 24: EFI Serial
+# Default: 5
+SERIAL4_PROTOCOL,5  # GNSS receiver is connected to serial4

vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.1-params/vehicle_components.json

@@ -173,6 +173,23 @@
                 "Protocol": "uBlox"
             },
             "Notes": "A very good receiver with an excellent antenna https://docs.holybro.com/gps-and-rtk-system/gps-led-and-buzzer/status-led-changes"
+        },
+        "GNSS receiver2": {
+            "Product": {
+                "Manufacturer": "Holybro",
+                "Model": "H-RTK F9P Helical",
+                "URL": "https://holybro.com/products/h-rtk-f9p-gnss-series?variant=41466787168445",
+                "Version": "1"
+            },
+            "Firmware": {
+                "Type": "UBlox",
+                "Version": "1.13.2"
+            },
+            "FC Connection": {
+                "Type": "SERIAL4",
+                "Protocol": "uBlox"
+            },
+            "Notes": "A very good receiver with an excellent antenna https://docs.holybro.com/gps-and-rtk-system/gps-led-and-buzzer/status-led-changes"
         }
     }
 }