pypilot-gps-adapter

C++ GPS adapter and filter layer for modular pypilot.

This project converts GPS-specific inputs such as gpsd TPV messages and filtered GPS state into pypilot-sensors samples. It is intentionally above generic sensor arbitration and below the runtime daemon.

Dependencies

pypilot-gps-adapter depends on:

• pypilot-data-model
• pypilot-algorithms
• pypilot-sensors

The dependency direction is:

gpsd / raw GPS / filtered GPS
              │
              v
      pypilot-gps-adapter ───> pypilot-sensors ───> pypilot-data-model
              │
              └──────────────> pypilot-algorithms

pypilot-sensors does not depend on pypilot-gps-adapter.

Responsibilities

This module owns:

• GPS fix input structs
• gpsd TPV JSON parsing into GPS fix input
• Linux-only gpsd socket client behind a CMake option
• GPS fix to pypilot_sensors::GpsSample conversion
• GPS fix to pypilot_sensors::SensorBatch conversion
• GPS fix application through pypilot_sensors::SensorsManager
• GPSFilter adapter wrapper between GPS fix structs and pypilot-algorithms

GPS coordinate math and the portable 2D GPSFilter Kalman predict/update core from original pypilot/gps_filter.py are owned by pypilot-algorithms and re-exported/wrapped here only for adapter compatibility.

This module does not own:

• generic source/device arbitration
• generic sensor timeout/lostdevice behavior
• NMEA 0183 parsing
• Signal K parsing
• autopilot mode selection
• pilot command computation
• servo command output runtime
• persistent settings storage
• user interface/server API

Build

cmake -S . -B build \
  -DPYPILOT_DATA_MODEL_DIR=$PWD/../pypilot-data-model/src \
  -DPYPILOT_ALGORITHMS_DIR=$PWD/../pypilot-algorithms/src \
  -DPYPILOT_SENSORS_DIR=$PWD/../pypilot-sensors/src
cmake --build build
ctest --test-dir build --output-on-failure

Build the optional Linux gpsd socket client and examples with:

cmake -S . -B build \
  -DPYPILOT_GPS_ADAPTER_ENABLE_LINUX_GPSD=ON \
  -DPYPILOT_GPS_ADAPTER_BUILD_EXAMPLES=ON
cmake --build build

Arduino

Use the Arduino Library Manager or local --libraries paths for all dependencies:

arduino-cli compile --fqbn arduino:avr:mega \
  --libraries pypilot-gps-adapter \
  --libraries pypilot-sensors \
  --libraries pypilot-data-model \
  --libraries pypilot-algorithms \
  --libraries pypilot-nmea0183-connector \
  --libraries pypilot-signalk-connector \
  --libraries pypilot-servo-protocol \
  pypilot-gps-adapter/examples/arduino/GpsAdapterExample

Linux-only gpsd socket code is behind PYPILOT_GPS_ADAPTER_ENABLE_LINUX_GPSD and is not required for Arduino builds.

Current scope

Completed in this module so far:

• Phase 4.3: GPS fix to GpsSample, SensorBatch, and SensorsManager bridge APIs
• Phase 4.4: mode-aware gpsd TPV parser with device, altHAE, speed, track, and lat/lon support
• Phase 4.5: Linux-only gpsd socket client with WATCH command, line reader, and TPV-to-fix reader
• adapter wrapper for Phase 4.2 GPSFilter from pypilot-algorithms
• compatibility forwarding header for Phase 4.1 GPS math from pypilot-algorithms

Completed in pypilot-algorithms:

• Phase 4.1: portable ll_to_xy / xy_to_ll coordinate math, including dateline wrapping parity with original PyPilot
• Phase 4.2: portable 2D GPSFilter Kalman predict/update core with fixed-size history replay