Trimble PX1 RTX

Mal_Dowling · May 10, 2023, 7:38pm

Hi all

Quick disclaimer - I work for Trimble but not in this division. I’m posting this because I found it interesting and believe others in the community will too.

This is all the info I have at the moment.

https://www.directionsmag.com/pressrelease/12318

Trimble_PX_1_RTX_Datasheet.pdf (192.1 KB)

rfriedman · May 20, 2023, 6:22pm

Hi Mal, I am working on updating ArduPilot’s GSOF driver. I have been working with Applanix to support the BD940-INS as well as the PX1 RTX.

I’ve already sone some refactor the AP_GPS_GSOF driver, and plan to add more support soon. Applanix has agreed to ship me a unit to develop against.

Here’s the list of currently merged work, which is all refactor (non-functional changes)

github.com/ArduPilot/ardupilot

Use enum classes and shorten variable names in GSOF

ArduPilot:master ← Ryanf55:gsof-enum-classes

opened 07:45PM - 09 May 23 UTC

Ryanf55

+63 -61

The GSOF code hasn't been touched in a while. Before I add support for some new …messages and hardware, there are a few things that can be done to improve it. Expect some more (small) PR's. Why enum class? https://isocpp.github.io/CppCoreGuidelines/CppCoreGuidelines#Renum-class Per Peter's recommendation, I also removed all the extra `gsof` parts of the variable names, since it's in class scope and won't conflict with global scope. The class and enum names were not complying with the style guide, and are now updated. Before names ```c++ struct gsof_msg_parser_t {} gsof_msg; enum {} gsof_state; static const uint8_t GSOF_STX = 0x02; ``` After names ```c++ struct Msg_Parser {} msg; enum class State {}; State state; static const uint8_t STX = 0x02; ```

github.com/ArduPilot/ardupilot

AP_GPS: Add const and WARN_IF_UNUSED to AP_GPS_GSOF

ArduPilot:master ← Ryanf55:add-const-gsof

opened 02:55PM - 10 May 23 UTC

Ryanf55

+29 -29

Another improvement for the GSOF driver. Added const everywhere possible. (and W…ARN_IF_UNUSED) Why? https://isocpp.github.io/CppCoreGuidelines/CppCoreGuidelines#con1-by-default-make-objects-immutable https://isocpp.github.io/CppCoreGuidelines/CppCoreGuidelines#e25-if-you-cant-throw-exceptions-simulate-raii-for-resource-management

github.com/ArduPilot/ardupilot

Enforce max of 10 GSOF outputs per the manual via static_assert

ArduPilot:master ← Ryanf55:gsof-enforce-10-outputs

opened 03:39PM - 19 May 23 UTC

Ryanf55

+3 -0

The manual says the following: https://receiverhelp.trimble.com/oem-gnss/index….html#GSOFmessages_Overview.html?TocPath=Output%2520Messages%257CGSOF%2520Messages%257COverview%257C_____0 ``` The receiver allows a maximum of ten GSOF messages to be output. ``` Right now, you could steadily increase the size of `gsofmsgreq` without concern. It is currently length `5`. Now, the compiler prevents you from exceeding the claimed limit in the manual.

Currently, I am working on adding a simulator for GSOF. The purpose is to use SITL to ensure the changes and refactor work to the driver does not introduce regressions. Then, it will be more safe to introduce features. I plan to start out by increasing support for using it as a precise GPS. For example, using the covariance estimates instead of just HDOP/VDOP.

After that, the next phase would be to use it as an “external AHRS” for ArduPilot.

If you had any specific requests for support, I am happy to discuss them here.