HardwareReport: Added GPS

HardwareReport/HardwareReport.js

@@ -1175,7 +1175,7 @@ function load_airspeed(log) {
 // Load GPS
 let gps
 const max_num_gps = 2
-function load_gps() {
+function load_gps(log) {
 
     for (let i = 0; i < max_num_gps; i++) {
         let index = String(i+1)
@@ -1191,9 +1191,122 @@ function load_gps() {
                            pos: get_param_array(params, pos_names),
                            node_id: params["GPS_CAN_NODEID" + (i+1)] }
             }
+            continue
+        }
+        const new_prefix = "GPS" + (i+1)
+        const new_type_name = new_prefix + "_TYPE"
+        if (new_type_name in params) {
+            // New per-instance params for 4.6+
+            const type = params[new_type_name]
+            if (type != 0) {
+                const pos_names = get_param_name_vector3(new_prefix + "_POS_")
+                gps[i] = { type: type,
+                           pos: get_param_array(params, pos_names),
+                           node_id: params[new_prefix + "_CAN_NODEID"] }
+            }
+        }
+    }
+
+    if ('MSG' in log.messageTypes) {
+        const messages = log.get("MSG").Message
+
+        // This regular expression is used to get the word after "as" to get the GPS device name.
+        // (?<=as\s) will exclude the "as" and a whitespace from the regex and then (\S+) will match the next word.
+        const regex_gps_device = /(?<=as\s)(\S+)/i;
+        const regex_gps_number = /(?<=GPS\s)(\S)/
+        for (const message of messages) {
+            if (message.startsWith("GPS")) {
+                const num_match = message.match(regex_gps_number)
+                const device_match = message.match(regex_gps_device)
+                if ((num_match != null) && (device_match != null)) {
+                    const gps_num = parseInt(num_match[0]) - 1
+                    gps[gps_num].device = device_match[0]
+                }
+            }
         }
     }
 
+    function print_gps(inst, gps_info) {
+        let fieldset = document.createElement("fieldset")
+
+        let heading = document.createElement("legend")
+        heading.innerHTML = "GPS " + (inst+1)
+        fieldset.appendChild(heading)
+
+        // Try and decode the type param
+        let types = []
+        types[0] = "None"
+        types[1] = "AUTO"
+        types[2] = "uBlox"
+        types[5] = "NMEA"
+        types[6] = "SiRF"
+        types[7] = "HIL"
+        types[8] = "SwiftNav"
+        types[9] = "DroneCAN"
+        types[10] = "SBF"
+        types[11] = "GSOF"
+        types[13] = "ERB"
+        types[14] = "MAV"
+        types[15] = "NOVA"
+        types[16] = "HemisphereNMEA"
+        types[17] = "uBlox-MovingBaseline-Base"
+        types[18] = "uBlox-MovingBaseline-Rover"
+        types[19] = "MSP"
+        types[20] = "AllyStar"
+        types[21] = "ExternalAHRS"
+        types[22] = "DroneCAN-MovingBaseline-Base"
+        types[23] = "DroneCAN-MovingBaseline-Rover"
+        types[24] = "UnicoreNMEA"
+        types[25] = "UnicoreMovingBaselineNMEA"
+        types[26] = "SBF-DualAntenna"
+
+        if (types[gps_info.type] != null) {
+            fieldset.appendChild(document.createTextNode("Type " + gps_info.type + ": " + types[gps_info.type]))
+            fieldset.appendChild(document.createElement("br"))
+        }
+
+        fieldset.appendChild(document.createTextNode(gps_info.device))
+        fieldset.appendChild(document.createElement("br"))
+
+        // If DroneCAN type we can print the node name
+        if ((gps_info.type == 9) || (gps_info.type == 22) || (gps_info.type == 23)) {
+
+            // Can't tell which bus, so give up if the node ID is found on both
+            let can_device
+            let can_count = 0
+            for (const [driver_num, can_driver] of Object.entries(can)) {
+                if (gps_info.node_id in can_driver) {
+                    can_device = can_driver[gps_info.node_id][0]
+                    can_count++
+                }
+            }
+
+            if ((can_device != null) && (can_count == 1)) {
+                fieldset.appendChild(document.createTextNode("Name: " + can_device.name))
+                fieldset.appendChild(document.createElement("br"))
+            }
+        }
+
+        return fieldset
+    }
+
+    let section = document.getElementById("GPS")
+    let table = document.createElement("table")
+    section.appendChild(table)
+
+    let have_section = false
+    for (let i = 0; i < gps.length; i++) {
+        if ((gps[i] != null) && ("device" in gps[i])) {
+            have_section = true
+            let colum = document.createElement("td")
+
+            colum.appendChild(print_gps(i, gps[i]))
+            table.appendChild(colum)
+        }
+    }
+
+    section.previousElementSibling.hidden = !have_section
+    section.hidden = !have_section
 }
 
 // Load Rangefinder
@@ -1435,7 +1548,7 @@ function load_params(log) {
     load_compass(log)
     load_baro(log)
     load_airspeed(log)
-    load_gps()
+    load_gps(log)
     load_flow()
     load_viso()
 
@@ -2431,6 +2544,7 @@ function reset() {
     setup_section(document.getElementById("DroneCAN"))
     setup_section(document.getElementById("WAYPOINTS"))
     setup_section(document.getElementById("FILES"))
+    setup_section(document.getElementById("GPS"))
 
     ins = []
     compass = []

HardwareReport/index.html

@@ -63,6 +63,9 @@ <h3 hidden>Compasses</h3>
 <h3 hidden>Barometers</h3>
 <p id="BARO"></p>
 
+<h3 hidden>GPS</h3>
+<p id="GPS"></p>
+
 <h3 hidden>Airspeed Sensors</h3>
 <p id="ARSPD"></p>