Merge pull request #3246 from bkueng/rtcm_gps

Add GPS drivers and RTCM output for RTK GPS

.gitmodules

@@ -1,3 +1,6 @@
 [submodule "libs/mavlink/include/mavlink/v1.0"]
 	path = libs/mavlink/include/mavlink/v1.0
 	url = https://github.com/mavlink/c_library.git
+[submodule "src/GPS/Drivers"]
+	path = src/GPS/Drivers
+	url = https://github.com/PX4/GpsDrivers.git

qgroundcontrol.pro

@@ -200,6 +200,7 @@ INCLUDEPATH += \
     src/input \
     src/Joystick \
     src/FollowMe \
+    src/GPS \
     src/lib/qmapcontrol \
     src/MissionEditor \
     src/MissionManager \
@@ -377,6 +378,15 @@ HEADERS += \
     src/ui/uas/UASQuickViewItem.h \
     src/ui/uas/UASQuickViewItemSelect.h \
     src/ui/uas/UASQuickViewTextItem.h \
+    src/GPS/Drivers/src/gps_helper.h \
+    src/GPS/Drivers/src/ubx.h \
+    src/GPS/definitions.h \
+    src/GPS/vehicle_gps_position.h \
+    src/GPS/satellite_info.h \
+    src/GPS/RTCM/RTCMMavlink.h \
+    src/GPS/GPSManager.h \
+    src/GPS/GPSPositionMessage.h \
+    src/GPS/GPSProvider.h \
     src/VehicleSetup/JoystickConfigController.h \
     src/ViewWidgets/CustomCommandWidget.h \
     src/ViewWidgets/CustomCommandWidgetController.h \
@@ -511,6 +521,11 @@ SOURCES += \
     src/ui/uas/UASQuickViewItem.cc \
     src/ui/uas/UASQuickViewItemSelect.cc \
     src/ui/uas/UASQuickViewTextItem.cc \
+    src/GPS/Drivers/src/gps_helper.cpp \
+    src/GPS/Drivers/src/ubx.cpp \
+    src/GPS/RTCM/RTCMMavlink.cc \
+    src/GPS/GPSManager.cc \
+    src/GPS/GPSProvider.cc \
     src/VehicleSetup/JoystickConfigController.cc \
     src/ViewWidgets/CustomCommandWidget.cc \
     src/ViewWidgets/CustomCommandWidgetController.cc \

src/GPS/Drivers

@@ -0,0 +1 @@
+Subproject commit 60739aaace1723c700f23b22212696dc75169559

src/GPS/GPSManager.cc

@@ -0,0 +1,86 @@
+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#include "GPSManager.h"
+#include <QDebug>
+
+GPSManager::GPSManager(QGCApplication* app)
+    : QGCTool(app)
+{
+    qRegisterMetaType<GPSPositionMessage>();
+    qRegisterMetaType<GPSSatelliteMessage>();
+}
+
+GPSManager::~GPSManager()
+{
+    cleanup();
+}
+
+void GPSManager::setupGPS(const QString& device)
+{
+    Q_ASSERT(_toolbox);
+
+    cleanup();
+    _requestGpsStop = false;
+    _gpsProvider = new GPSProvider(device, true, _requestGpsStop);
+    _gpsProvider->start();
+
+    //create RTCM device
+    _rtcmMavlink = new RTCMMavlink(*_toolbox);
+
+    connect(_gpsProvider, SIGNAL(RTCMDataUpdate(QByteArray)), _rtcmMavlink,
+            SLOT(RTCMDataUpdate(QByteArray)));
+
+    //test: connect to position update
+    connect(_gpsProvider, SIGNAL(positionUpdate(GPSPositionMessage)), this,
+            SLOT(GPSPositionUpdate(GPSPositionMessage)));
+    connect(_gpsProvider, SIGNAL(satelliteInfoUpdate(GPSSatelliteMessage)), this,
+            SLOT(GPSSatelliteUpdate(GPSSatelliteMessage)));
+
+}
+
+void GPSManager::GPSPositionUpdate(GPSPositionMessage msg)
+{
+    qDebug("GPS: got position update: alt=%i, long=%i, lat=%i",
+            msg.position_data.alt, msg.position_data.lon,
+            msg.position_data.lat);
+}
+void GPSManager::GPSSatelliteUpdate(GPSSatelliteMessage msg)
+{
+    qDebug("GPS: got satellite info update, %i satellites", (int)msg.satellite_data.count);
+}
+
+void GPSManager::cleanup()
+{
+    if (_gpsProvider) {
+        _requestGpsStop = true;
+        //Note that we need a relatively high timeout to be sure the GPS thread finished.
+        if (!_gpsProvider->wait(2000)) {
+            qWarning() << "Failed to wait for GPS thread exit. Consider increasing the timeout";
+        }
+        delete(_gpsProvider);
+    }
+    if (_rtcmMavlink) {
+        delete(_rtcmMavlink);
+    }
+}

src/GPS/GPSManager.h

@@ -0,0 +1,56 @@
+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#pragma once
+
+#include "GPSProvider.h"
+#include "RTCM/RTCMMavlink.h"
+#include <QGCToolbox.h>
+
+#include <QString>
+#include <QObject>
+
+/**
+ ** class GPSManager
+ * handles a GPS provider and RTK
+ */
+class GPSManager : public QGCTool
+{
+    Q_OBJECT
+public:
+    GPSManager(QGCApplication* app);
+    ~GPSManager();
+
+    void setupGPS(const QString& device);
+
+private slots:
+    void GPSPositionUpdate(GPSPositionMessage msg);
+    void GPSSatelliteUpdate(GPSSatelliteMessage msg);
+private:
+    void cleanup();
+
+    GPSProvider* _gpsProvider = nullptr;
+    RTCMMavlink* _rtcmMavlink = nullptr;
+
+    std::atomic_bool _requestGpsStop; ///< signals the thread to quit
+};

src/GPS/GPSPositionMessage.h

@@ -0,0 +1,46 @@
+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#pragma once
+
+#include "vehicle_gps_position.h"
+#include "satellite_info.h"
+#include <QMetaType>
+
+/**
+ ** struct GPSPositionMessage
+ * wrapper that can be used for Qt signal/slots
+ */
+struct GPSPositionMessage
+{
+    vehicle_gps_position_s position_data;
+};
+
+Q_DECLARE_METATYPE(GPSPositionMessage);
+
+
+struct GPSSatelliteMessage
+{
+    satellite_info_s satellite_data;
+};
+Q_DECLARE_METATYPE(GPSSatelliteMessage);

src/GPS/GPSProvider.cc

@@ -0,0 +1,175 @@
+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#include "GPSProvider.h"
+
+#define TIMEOUT_5HZ 500
+
+#include <QDebug>
+
+#include "Drivers/src/ubx.h"
+#include "Drivers/src/gps_helper.h"
+#include "definitions.h"
+
+
+void GPSProvider::run()
+{
+    if (_serial) delete _serial;
+
+    _serial = new QSerialPort();
+    _serial->setPortName(_device);
+    if (!_serial->open(QIODevice::ReadWrite)) {
+        qWarning() << "GPS: Failed to open Serial Device" << _device;
+        return;
+    }
+    _serial->setBaudRate(QSerialPort::Baud9600);
+    _serial->setDataBits(QSerialPort::Data8);
+    _serial->setParity(QSerialPort::NoParity);
+    _serial->setStopBits(QSerialPort::OneStop);
+    _serial->setFlowControl(QSerialPort::NoFlowControl);
+
+    unsigned int baudrate;
+    GPSHelper* gpsHelper = nullptr;
+
+    while (!_requestStop) {
+
+        if (gpsHelper) {
+            delete gpsHelper;
+            gpsHelper = nullptr;
+        }
+
+        gpsHelper = new GPSDriverUBX(&callbackEntry, this, &_reportGpsPos, _pReportSatInfo);
+
+        if (gpsHelper->configure(baudrate, GPSHelper::OutputMode::RTCM) == 0) {
+
+            /* reset report */
+            memset(&_reportGpsPos, 0, sizeof(_reportGpsPos));
+
+            //In rare cases it can happen that we get an error from the driver (eg. checksum failure) due to
+            //bus errors or buggy firmware. In this case we want to try multiple times before giving up.
+            int numTries = 0;
+
+            while (!_requestStop && numTries < 3) {
+                int helperRet = gpsHelper->receive(TIMEOUT_5HZ);
+
+                if (helperRet > 0) {
+                    numTries = 0;
+
+                    if (helperRet & 1) {
+                        publishGPSPosition();
+                        numTries = 0;
+                    }
+
+                    if (_pReportSatInfo && (helperRet & 2)) {
+                        publishGPSSatellite();
+                        numTries = 0;
+                    }
+                } else {
+                    ++numTries;
+                }
+            }
+            if (_serial->error() != QSerialPort::NoError && _serial->error() != QSerialPort::TimeoutError) {
+                break;
+            }
+        }
+    }
+    qDebug() << "Exiting GPS thread";
+}
+
+GPSProvider::GPSProvider(const QString& device, bool enableSatInfo, const std::atomic_bool& requestStop)
+    : _device(device), _requestStop(requestStop)
+{
+    if (enableSatInfo) _pReportSatInfo = new satellite_info_s();
+}
+
+GPSProvider::~GPSProvider()
+{
+    if (_pReportSatInfo) delete(_pReportSatInfo);
+    if (_serial) delete _serial;
+}
+
+void GPSProvider::publishGPSPosition()
+{
+    GPSPositionMessage msg;
+    msg.position_data = _reportGpsPos;
+    emit positionUpdate(msg);
+}
+
+void GPSProvider::publishGPSSatellite()
+{
+    GPSSatelliteMessage msg;
+    msg.satellite_data = *_pReportSatInfo;
+    emit satelliteInfoUpdate(msg);
+}
+
+void GPSProvider::gotRTCMData(uint8_t* data, size_t len)
+{
+    QByteArray message((char*)data, len);
+    emit RTCMDataUpdate(message);
+}
+
+int GPSProvider::callbackEntry(GPSCallbackType type, void *data1, int data2, void *user)
+{
+    GPSProvider *gps = (GPSProvider *)user;
+    return gps->callback(type, data1, data2);
+}
+
+int GPSProvider::callback(GPSCallbackType type, void *data1, int data2)
+{
+    switch (type) {
+        case GPSCallbackType::readDeviceData: {
+            int timeout = *((int *) data1);
+            if (!_serial->waitForReadyRead(timeout))
+                return 0; //timeout
+            msleep(10); //give some more time to buffer data
+            return (int)_serial->read((char*) data1, data2);
+        }
+        case GPSCallbackType::writeDeviceData:
+            if (_serial->write((char*) data1, data2) >= 0) {
+                if (_serial->waitForBytesWritten(-1))
+                    return data2;
+            }
+            return -1;
+
+        case GPSCallbackType::setBaudrate:
+            return _serial->setBaudRate(data2) ? 0 : -1;
+
+        case GPSCallbackType::gotRTCMMessage:
+            gotRTCMData((uint8_t*) data1, data2);
+            break;
+
+        case GPSCallbackType::surveyInStatus:
+        {
+            SurveyInStatus* status = (SurveyInStatus*)data1;
+            qInfo("Survey-in status: %is cur accuracy: %imm valid: %i active: %i",
+                status->duration, status->mean_accuracy, (int)(status->flags & 1), (int)((status->flags>>1) & 1));
+        }
+            break;
+
+        case GPSCallbackType::setClock:
+            /* do nothing */
+            break;
+    }
+
+    return 0;
+}

src/GPS/GPSProvider.h

@@ -0,0 +1,78 @@
+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#pragma once
+
+#include <QString>
+#include <QThread>
+#include <QByteArray>
+#include <QSerialPort>
+
+#include <atomic>
+
+#include "GPSPositionMessage.h"
+#include "Drivers/src/gps_helper.h"
+
+
+/**
+ ** class GPSProvider
+ * opens a GPS device and handles the protocol
+ */
+class GPSProvider : public QThread
+{
+    Q_OBJECT
+public:
+    GPSProvider(const QString& device, bool enableSatInfo, const std::atomic_bool& requestStop);
+    ~GPSProvider();
+
+    /**
+     * this is called by the callback method
+     */
+    void gotRTCMData(uint8_t *data, size_t len);
+signals:
+    void positionUpdate(GPSPositionMessage message);
+    void satelliteInfoUpdate(GPSSatelliteMessage message);
+    void RTCMDataUpdate(QByteArray message);
+
+protected:
+    void run();
+
+private:
+    void publishGPSPosition();
+    void publishGPSSatellite();
+
+	/**
+	 * callback from the driver for the platform specific stuff
+	 */
+	static int callbackEntry(GPSCallbackType type, void *data1, int data2, void *user);
+
+	int callback(GPSCallbackType type, void *data1, int data2);
+
+    QString _device;
+    const std::atomic_bool& _requestStop;
+
+	struct vehicle_gps_position_s	_reportGpsPos;
+	struct satellite_info_s		*_pReportSatInfo = nullptr;
+
+	QSerialPort *_serial = nullptr;
+};

src/GPS/RTCM/RTCMMavlink.cc

@@ -0,0 +1,65 @@
+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#include "RTCMMavlink.h"
+
+#include "MultiVehicleManager.h"
+#include "MAVLinkProtocol.h"
+#include "Vehicle.h"
+
+#include <cstdio>
+
+RTCMMavlink::RTCMMavlink(QGCToolbox& toolbox)
+    : _toolbox(toolbox)
+{
+    _bandwidthTimer.start();
+}
+
+void RTCMMavlink::RTCMDataUpdate(QByteArray message)
+{
+    Q_ASSERT(message.size() <= 110); //mavlink message uses a fixed-size buffer
+
+    /* statistics */
+    _bandwidthByteCounter += message.size();
+    qint64 elapsed = _bandwidthTimer.elapsed();
+    if (elapsed > 1000) {
+        printf("RTCM bandwidth: %.2f kB/s\n", (float) _bandwidthByteCounter / elapsed * 1000.f / 1024.f);
+        _bandwidthTimer.restart();
+        _bandwidthByteCounter = 0;
+    }
+    QmlObjectListModel& vehicles = *_toolbox.multiVehicleManager()->vehicles();
+    MAVLinkProtocol* mavlinkProtocol = _toolbox.mavlinkProtocol();
+    mavlink_gps_inject_data_t mavlinkRtcmData;
+    memset(&mavlinkRtcmData, 0, sizeof(mavlink_gps_inject_data_t));
+
+    mavlinkRtcmData.len = message.size();
+    memcpy(&mavlinkRtcmData.data, message.data(), message.size());
+
+    for (int i = 0; i < vehicles.count(); i++) {
+        Vehicle* vehicle = qobject_cast<Vehicle*>(vehicles[i]);
+        mavlink_message_t message;
+        mavlink_msg_gps_inject_data_encode(mavlinkProtocol->getSystemId(),
+                mavlinkProtocol->getComponentId(), &message, &mavlinkRtcmData);
+        vehicle->sendMessage(message);
+    }
+}

src/GPS/RTCM/RTCMMavlink.h

@@ -0,0 +1,49 @@
+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#pragma once
+
+#include <QObject>
+#include <QElapsedTimer>
+
+#include "QGCToolbox.h"
+
+/**
+ ** class RTCMMavlink
+ * Receives RTCM updates and sends them via MAVLINK to the device
+ */
+class RTCMMavlink : public QObject
+{
+    Q_OBJECT
+public:
+    RTCMMavlink(QGCToolbox& toolbox);
+    //TODO: API to select device(s)?
+
+public slots:
+    void RTCMDataUpdate(QByteArray message);
+
+private:
+    QGCToolbox& _toolbox;
+    QElapsedTimer _bandwidthTimer;
+    int _bandwidthByteCounter = 0;
+};

src/GPS/definitions.h

@@ -0,0 +1,85 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file definitions.h
+ * common platform-specific definitions & abstractions for gps
+ * @author Beat Küng <beat-kueng@gmx.net>
+ */
+
+#pragma once
+
+#include <QtGlobal>
+
+#define GPS_INFO(...) qInfo(__VA_ARGS__)
+#define GPS_WARN(...) qWarning(__VA_ARGS__)
+#define GPS_ERR(...) qCritical(__VA_ARGS__)
+
+#include "vehicle_gps_position.h"
+#include "satellite_info.h"
+
+#define M_DEG_TO_RAD_F 		0.01745329251994f
+#define M_RAD_TO_DEG_F 		57.2957795130823f
+
+#include <QThread>
+
+class Sleeper : public QThread
+{
+public:
+    static void usleep(unsigned long usecs) { QThread::usleep(usecs); }
+};
+
+#define usleep Sleeper::usleep
+
+
+typedef uint64_t gps_abstime;
+
+#include <QDateTime>
+/**
+ * Get the current time in us. Function signature:
+ * uint64_t hrt_absolute_time()
+ */
+static inline gps_abstime gps_absolute_time() {
+    //FIXME: is there something with microsecond accuracy?
+    return QDateTime::currentMSecsSinceEpoch() * 1000;
+}
+
+//timespec is UNIX-specific
+#ifdef _WIN32
+struct timespec
+{
+    time_t tv_sec;
+    long tv_nsec;
+};
+#endif
+

src/GPS/satellite_info.h

@@ -0,0 +1,54 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+#include <stdint.h>
+
+/*
+ * This file is auto-generated from https://github.com/PX4/Firmware/blob/master/msg/satellite_info.msg
+ * and was manually copied here.
+ */
+
+struct satellite_info_s {
+	uint64_t timestamp;
+	uint8_t count;
+	uint8_t svid[20];
+	uint8_t used[20];
+	uint8_t elevation[20];
+	uint8_t azimuth[20];
+	uint8_t snr[20];
+#ifdef __cplusplus
+	static const uint8_t SAT_INFO_MAX_SATELLITES = 20;
+
+#endif
+};

src/GPS/vehicle_gps_position.h

@@ -0,0 +1,68 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+#include <stdint.h>
+
+/*
+ * This file is auto-generated from https://github.com/PX4/Firmware/blob/master/msg/vehicle_gps_position.msg
+ * and was manually copied here.
+ */
+
+struct vehicle_gps_position_s {
+	uint64_t timestamp_position;
+	int32_t lat;
+	int32_t lon;
+	int32_t alt;
+	int32_t alt_ellipsoid;
+	uint64_t timestamp_variance;
+	float s_variance_m_s;
+	float c_variance_rad;
+	uint8_t fix_type;
+	float eph;
+	float epv;
+	float hdop;
+	float vdop;
+	int32_t noise_per_ms;
+	int32_t jamming_indicator;
+	uint64_t timestamp_velocity;
+	float vel_m_s;
+	float vel_n_m_s;
+	float vel_e_m_s;
+	float vel_d_m_s;
+	float cog_rad;
+	bool vel_ned_valid;
+	uint64_t timestamp_time;
+	uint64_t time_utc_usec;
+	uint8_t satellites_used;
+};

src/QGCToolbox.cc

@@ -26,6 +26,9 @@
 #include "FirmwarePluginManager.h"
 #include "FlightMapSettings.h"
 #include "GAudioOutput.h"
+#ifndef __mobile__
+#include "GPSManager.h"
+#endif /* __mobile */
 #include "HomePositionManager.h"
 #include "JoystickManager.h"
 #include "LinkManager.h"
@@ -59,6 +62,9 @@ QGCToolbox::QGCToolbox(QGCApplication* app)
     _factSystem =               new FactSystem(app);
     _firmwarePluginManager =    new FirmwarePluginManager(app);
     _flightMapSettings =        new FlightMapSettings(app);
+#ifndef __mobile__
+    _gpsManager =               new GPSManager(app);
+#endif /* __mobile */
     _homePositionManager =      new HomePositionManager(app);
     _imageProvider =            new QGCImageProvider(app);
     _joystickManager =          new JoystickManager(app);
@@ -75,6 +81,9 @@ QGCToolbox::QGCToolbox(QGCApplication* app)
     _factSystem->setToolbox(this);
     _firmwarePluginManager->setToolbox(this);
     _flightMapSettings->setToolbox(this);
+#ifndef __mobile__
+    _gpsManager->setToolbox(this);
+#endif /* __mobile */
     _homePositionManager->setToolbox(this);
     _imageProvider->setToolbox(this);
     _joystickManager->setToolbox(this);
@@ -85,6 +94,9 @@ QGCToolbox::QGCToolbox(QGCApplication* app)
     _mapEngineManager->setToolbox(this);
     _uasMessageHandler->setToolbox(this);
     _followMe->setToolbox(this);
+
+    //FIXME: make this configurable...
+    //_gpsManager->setupGPS("ttyACM0");
 }
 
 QGCToolbox::~QGCToolbox()

src/QGCToolbox.h

@@ -31,6 +31,7 @@ class FactSystem;
 class FirmwarePluginManager;
 class FlightMapSettings;
 class GAudioOutput;
+class GPSManager;
 class HomePositionManager;
 class JoystickManager;
 class FollowMe;
@@ -71,6 +72,7 @@ private:
     FactSystem*                 _factSystem;
     FirmwarePluginManager*      _firmwarePluginManager;
     FlightMapSettings*          _flightMapSettings;
+    GPSManager*                 _gpsManager;
     HomePositionManager*        _homePositionManager;
     QGCImageProvider*           _imageProvider;
     JoystickManager*            _joystickManager;