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fix #462 publish immediately on any GPS state change

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(don't wait until end of aquisition window)
This commit is contained in:
Kevin Hester
2020-10-10 09:20:38 +08:00
parent 4a70ba1f7a
commit 95cb6b06e4
6 changed files with 73 additions and 30 deletions
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26
src/gps/UBloxGPS.cpp
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@@ -8,20 +8,23 @@ UBloxGPS::UBloxGPS() {}
bool UBloxGPS::tryConnect()
{
isConnected = false;
bool c = false;
if (_serial_gps)
isConnected = ublox.begin(*_serial_gps);
c = ublox.begin(*_serial_gps);
if (!isConnected && i2cAddress) {
if (!c && i2cAddress) {
extern bool neo6M; // Super skanky - if we are talking to the device i2c we assume it is a neo7 on a RAK815, which
// supports the newer API
neo6M = true;
isConnected = ublox.begin(Wire, i2cAddress);
c = ublox.begin(Wire, i2cAddress);
}
return isConnected;
if (c)
setConnected();
return c;
}
bool UBloxGPS::setupGPS()
@@ -45,7 +48,7 @@ bool UBloxGPS::setupGPS()
for (int i = 0; (i < 3) && !tryConnect(); i++)
delay(500);
if (isConnected) {
if (isConnected()) {
DEBUG_MSG("Connected to UBLOX GPS successfully\n");
if (!setUBXMode())
@@ -106,8 +109,8 @@ bool UBloxGPS::factoryReset()
for (int i = 0; (i < 3) && !tryConnect(); i++)
delay(500);
DEBUG_MSG("GPS Factory reset success=%d\n", isConnected);
if (isConnected)
DEBUG_MSG("GPS Factory reset success=%d\n", isConnected());
if (isConnected())
ok = setUBXMode();
return ok;
@@ -127,7 +130,7 @@ void UBloxGPS::whileActive()
// Update fixtype
if (ublox.moduleQueried.fixType) {
fixType = ublox.getFixType(0);
DEBUG_MSG("GPS fix type %d, numSats %d\n", fixType, numSatellites);
// DEBUG_MSG("GPS fix type %d, numSats %d\n", fixType, numSatellites);
}
}
@@ -170,7 +173,7 @@ bool UBloxGPS::lookForLocation()
bool foundLocation = false;
if (ublox.moduleQueried.SIV)
numSatellites = ublox.getSIV(0);
setNumSatellites(ublox.getSIV(0));
if (ublox.moduleQueried.pDOP)
dop = ublox.getPDOP(0); // PDOP (an accuracy metric) is reported in 10^2 units so we have to scale down when we use it
@@ -189,8 +192,7 @@ bool UBloxGPS::lookForLocation()
// 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!
foundLocation =
(latitude != 0) && (longitude != 0) && (latitude <= 900000000 && latitude >= -900000000) && (numSatellites > 0);
foundLocation = (latitude != 0) && (longitude != 0) && (latitude <= 900000000 && latitude >= -900000000);
}
}