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allow reporting # sats before we ahve a fix

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This commit is contained in:
Kevin Hester
2020-10-08 06:22:25 +08:00
parent fc82e872d6
commit bdcd5c3981
3 changed files with 9 additions and 6 deletions
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12
src/gps/UBloxGPS.cpp
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@@ -32,7 +32,7 @@ bool UBloxGPS::setupGPS()
_serial_gps->begin(GPS_BAUDRATE);
#endif
#ifndef NO_ESP32
_serial_gps->setRxBufferSize(1024); // the default is 256
_serial_gps->setRxBufferSize(2048); // the default is 256
#endif
}
@@ -126,7 +126,7 @@ void UBloxGPS::whileActive()
// Update fixtype
if (ublox.moduleQueried.fixType) {
fixType = ublox.getFixType(0);
DEBUG_MSG("GPS fix type %d\n", fixType);
DEBUG_MSG("GPS fix type %d, numSats %d\n", fixType, numSatellites);
}
}
@@ -168,6 +168,12 @@ bool UBloxGPS::lookForLocation()
{
bool foundLocation = false;
if (ublox.moduleQueried.SIV)
numSatellites = 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
// we only notify if position has changed due to a new fix
if ((fixType >= 3 && fixType <= 4)) {
if (ublox.moduleQueried.latitude) // rd fixes only
@@ -175,12 +181,10 @@ bool UBloxGPS::lookForLocation()
latitude = ublox.getLatitude(0);
longitude = ublox.getLongitude(0);
altitude = ublox.getAltitudeMSL(0) / 1000; // in mm convert to meters
dop = ublox.getPDOP(0); // PDOP (an accuracy metric) is reported in 10^2 units so we have to scale down when we use it
// Note: heading is only currently implmented in the ublox for the 8m chipset - therefore
// don't read it here - it will generate an ignored getPVT command on the 6ms
// heading = ublox.getHeading(0);
numSatellites = ublox.getSIV(0);
// 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!