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Code Issues Wiki Activity

Refactor sat count checks and GPS trust code

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single minimum GPS satellite setting
single required GPS satellite setting
CLI Baro vs GPS trust user interface
GPS trust refactoring
allow arming with GPS_FIX even if not enough sats
required sats must be present to arm
set required sat count to 8
add blackbox headers
This commit is contained in:
ctzsnooze 2022-07-04 22:21:39 +10:00
parent 9dc2f127b8
commit 09ee27cd97
28 changed files with 180 additions and 120 deletions
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28
src/main/io/gps.c
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@ -273,7 +273,7 @@ typedef enum {
gpsData_t gpsData;
PG_REGISTER_WITH_RESET_TEMPLATE(gpsConfig_t, gpsConfig, PG_GPS_CONFIG, 0);
PG_REGISTER_WITH_RESET_TEMPLATE(gpsConfig_t, gpsConfig, PG_GPS_CONFIG, 1);
PG_RESET_TEMPLATE(gpsConfig_t, gpsConfig,
.provider = GPS_UBLOX,
@ -284,7 +284,9 @@ PG_RESET_TEMPLATE(gpsConfig_t, gpsConfig,
.gps_ublox_mode = UBLOX_AIRBORNE,
.gps_set_home_point_once = false,
.gps_use_3d_speed = false,
.sbas_integrity = false
.sbas_integrity = false,
.gpsRequiredSats = GPS_REQUIRED_SAT_COUNT,
.gpsMinimumSats = GPS_MINIMUM_SAT_COUNT
);
static void shiftPacketLog(void)
@ -757,7 +759,7 @@ void gpsInitHardware(void)
static void updateGpsIndicator(timeUs_t currentTimeUs)
{
static uint32_t GPSLEDTime;
if ((int32_t)(currentTimeUs - GPSLEDTime) >= 0 && (gpsSol.numSat >= 5)) {
if ((int32_t)(currentTimeUs - GPSLEDTime) >= 0 && STATE(GPS_FIX) && (gpsSol.numSat >= gpsConfig()->gpsRequiredSats)) {
GPSLEDTime = currentTimeUs + 150000;
LED1_TOGGLE;
}
@ -867,18 +869,15 @@ void gpsUpdate(timeUs_t currentTimeUs)
DISABLE_STATE(GPS_FIX_HOME);
}
uint8_t minSats = 5;
#if defined(USE_GPS_RESCUE)
if (gpsRescueIsConfigured()) {
updateGPSRescueState();
minSats = gpsRescueConfig()->minSats;
}
#endif
static bool hasFix = false;
if (STATE(GPS_FIX)) {
if (gpsIsHealthy() && gpsSol.numSat >= minSats && !hasFix) {
if (STATE(GPS_FIX_HOME)) {
if (gpsIsHealthy() && gpsSol.numSat >= gpsConfig()->gpsRequiredSats && !hasFix) {
// ready beep sequence on fix or requirements for gps rescue met.
beeper(BEEPER_READY_BEEP);
hasFix = true;
@ -1804,11 +1803,12 @@ static void GPS_calculateDistanceFlownVerticalSpeed(bool initialize)
void GPS_reset_home_position(void)
{
if (!STATE(GPS_FIX_HOME) || !gpsConfig()->gps_set_home_point_once) {
if (STATE(GPS_FIX) && gpsSol.numSat >= 5) {
if (STATE(GPS_FIX) && gpsSol.numSat >= gpsConfig()->gpsRequiredSats) {
// requires the full sat count to say we have a home fix
GPS_home[GPS_LATITUDE] = gpsSol.llh.lat;
GPS_home[GPS_LONGITUDE] = gpsSol.llh.lon;
GPS_calc_longitude_scaling(gpsSol.llh.lat); // need an initial value for distance and bearing calc
// Set ground altitude
GPS_calc_longitude_scaling(gpsSol.llh.lat);
// need an initial value for distance and bearing calcs, and to set ground altitude
ENABLE_STATE(GPS_FIX_HOME);
}
}
@ -1833,7 +1833,7 @@ void GPS_distance_cm_bearing(int32_t *currentLat1, int32_t *currentLon1, int32_t
void GPS_calculateDistanceAndDirectionToHome(void)
{
if (STATE(GPS_FIX_HOME)) { // If we don't have home set, do not display anything
if (STATE(GPS_FIX_HOME)) {
uint32_t dist;
int32_t dir;
GPS_distance_cm_bearing(&gpsSol.llh.lat, &gpsSol.llh.lon, &GPS_home[GPS_LATITUDE], &GPS_home[GPS_LONGITUDE], &dist, &dir);
@ -1841,6 +1841,7 @@ void GPS_calculateDistanceAndDirectionToHome(void)
GPS_distanceToHomeCm = dist; // cm/sec
GPS_directionToHome = dir / 10; // degrees * 10 or decidegrees
} else {
// If we don't have home set, do not display anything
GPS_distanceToHome = 0;
GPS_distanceToHomeCm = 0;
GPS_directionToHome = 0;
@ -1849,7 +1850,8 @@ void GPS_calculateDistanceAndDirectionToHome(void)
void onGpsNewData(void)
{
if (!(STATE(GPS_FIX) && gpsSol.numSat >= 5)) {
if (!(STATE(GPS_FIX) && gpsSol.numSat >= gpsConfig()->gpsMinimumSats)) {
// if we don't have a 3D fix and the minimum sats, don't give data to GPS rescue
return;
}