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use Position struct for GPS data

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This commit is contained in:
a-f-G-U-C
2021-10-24 12:38:35 +00:00
committed by GitHub
parent 7d267e8027
commit 70b80e600d
4 changed files with 85 additions and 41 deletions
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54
src/gps/UBloxGPS.cpp
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@@ -10,6 +10,8 @@
#define PDOP_INVALID 9999
// #define UBX_MODE_NMEA
extern RadioConfig radioConfig;
UBloxGPS::UBloxGPS() {}
@@ -48,12 +50,22 @@ bool UBloxGPS::setupGPS()
delay(500);
if (isConnected()) {
#ifdef UBX_MODE_NMEA
DEBUG_MSG("Connected to UBLOX GPS, downgrading to NMEA mode\n");
DEBUG_MSG("- GPS errors below are related and safe to ignore\n");
#else
DEBUG_MSG("Connected to UBLOX GPS successfully\n");
#endif
if (!setUBXMode())
RECORD_CRITICALERROR(CriticalErrorCode_UBloxInitFailed); // Don't halt the boot if saving the config fails, but do report the bug
#ifdef UBX_MODE_NMEA
return false;
#else
return true;
#endif
} else {
return false;
}
@@ -61,6 +73,17 @@ bool UBloxGPS::setupGPS()
bool UBloxGPS::setUBXMode()
{
#ifdef UBX_MODE_NMEA
if (_serial_gps) {
ublox.setUART1Output(COM_TYPE_NMEA, 1000);
}
if (i2cAddress) {
ublox.setI2COutput(COM_TYPE_NMEA, 1000);
}
return false; // pretend initialization failed to force NMEA mode
#endif
if (_serial_gps) {
if (!ublox.setUART1Output(COM_TYPE_UBX, 1000)) // Use native API
return false;
@@ -119,7 +142,6 @@ bool UBloxGPS::factoryReset()
void UBloxGPS::whileActive()
{
ublox.flushPVT(); // reset ALL freshness flags first
ublox.getT(maxWait()); // ask for new time data - hopefully ready when we come back
// Ask for a new position fix - hopefully it will have results ready by next time
@@ -177,6 +199,7 @@ bool UBloxGPS::lookForLocation()
ublox.moduleQueried.longitude &&
ublox.moduleQueried.altitude &&
ublox.moduleQueried.pDOP &&
ublox.moduleQueried.SIV &&
ublox.moduleQueried.gpsDay))
{
// Not ready? No problem! We'll try again later.
@@ -188,6 +211,7 @@ bool UBloxGPS::lookForLocation()
DEBUG_MSG("FixType=%d\n", fixType);
#endif
// check if GPS has an acceptable lock
if (! hasLock()) {
ublox.flushPVT(); // reset ALL freshness flags
@@ -217,11 +241,7 @@ bool UBloxGPS::lookForLocation()
time_t tmp_ts = mktime(&t);
// SIV number is nice-to-have if it's available
if (ublox.moduleQueried.SIV) {
uint16_t gSIV = ublox.getSIV(0);
setNumSatellites(gSIV);
}
// FIXME - can opportunistically attempt to set RTC from GPS timestamp?
// bogus lat lon is reported as 0 or 0 (can be bogus just for one)
// Also: apparently when the GPS is initially reporting lock it can output a bogus latitude > 90 deg!
@@ -232,16 +252,18 @@ bool UBloxGPS::lookForLocation()
// only if entire dataset is valid, update globals from temp vars
if (foundLocation) {
longitude = tmp_lon;
latitude = tmp_lat;
#ifdef GPS_ALTITUDE_HAE
altitude = tmp_alt_hae / 1000;
#else
altitude = tmp_alt_msl / 1000;
#endif
geoidal_height = (tmp_alt_hae - tmp_alt_msl) / 1000;
pos_timestamp = tmp_ts;
dop = tmp_dop;
p.location_source = Position_LocSource_LOCSRC_GPS_INTERNAL;
p.longitude_i = tmp_lon;
p.latitude_i = tmp_lat;
p.altitude = tmp_alt_msl / 1000;
p.altitude_hae = tmp_alt_hae / 1000;
p.alt_geoid_sep = (tmp_alt_hae - tmp_alt_msl) / 1000;
p.pos_timestamp = tmp_ts;
p.PDOP = tmp_dop;
p.fix_type = fixType;
p.sats_in_view = ublox.getSIV(0);
// In debug logs, identify position by @timestamp:stage (stage 1 = birth)
DEBUG_MSG("lookForLocation() new pos@%x:1\n", tmp_ts);
} else {
// INVALID solution - should never happen
DEBUG_MSG("Invalid location lat/lon/hae/dop %d/%d/%d/%d - discarded\n",