Use PDOP consistently, since it replaces HDOP (#13477)

src/main/cli/settings.c

@@ -1510,7 +1510,7 @@ const clivalue_t valueTable[] = {
     { "osd_profile_2_name",         VAR_UINT8  | MASTER_VALUE | MODE_STRING, .config.string = { 1, OSD_PROFILE_NAME_LENGTH, STRING_FLAGS_NONE }, PG_OSD_CONFIG, offsetof(osdConfig_t, profile[1]) },
     { "osd_profile_3_name",         VAR_UINT8  | MASTER_VALUE | MODE_STRING, .config.string = { 1, OSD_PROFILE_NAME_LENGTH, STRING_FLAGS_NONE }, PG_OSD_CONFIG, offsetof(osdConfig_t, profile[2]) },
 #endif
-    { "osd_gps_sats_show_hdop",     VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_OSD_CONFIG, offsetof(osdConfig_t, gps_sats_show_hdop) },
+    { "osd_gps_sats_show_pdop",     VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_OSD_CONFIG, offsetof(osdConfig_t, gps_sats_show_pdop) },
     { "osd_displayport_device",     VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OSD_DISPLAYPORT_DEVICE }, PG_OSD_CONFIG, offsetof(osdConfig_t, displayPortDevice) },
 
     { "osd_rcchannels",             VAR_INT8   | MASTER_VALUE | MODE_ARRAY, .config.array.length = OSD_RCCHANNELS_COUNT, PG_OSD_CONFIG, offsetof(osdConfig_t, rcChannels) },

src/main/flight/position.c

@@ -99,7 +99,7 @@ void calculateEstimatedAltitude(void)
     static float newBaroAltOffsetCm = 0.0f;
 
     float baroAltCm = 0.0f;
-    float gpsTrust = 0.3f; // if no hDOP value, use 0.3
+    float gpsTrust = 0.3f; // if no pDOP value, use 0.3, intended range 0-1;
     bool haveBaroAlt = false; // true if baro exists and has been calibrated on power up
     bool haveGpsAlt = false; // true if GPS is connected and while it has a 3D fix, set each run to false
 
@@ -116,8 +116,10 @@ void calculateEstimatedAltitude(void)
         // On loss of 3D fix, gpsAltCm remains at the last value, haveGpsAlt becomes false, and gpsTrust goes to zero.
         gpsAltCm = gpsSol.llh.altCm; // static, so hold last altitude value if 3D fix is lost to prevent fly to moon
         haveGpsAlt = true; // stays false if no 3D fix
-        if (gpsSol.dop.hdop != 0) {
+        if (gpsSol.dop.pdop != 0) {
-            gpsTrust = 100.0f / gpsSol.dop.hdop;
+            // pDOP of 1.0 is good.  100 is very bad.  Our gpsSol.dop.pdop values are *100
+            // When pDOP is a value less than 3.3, GPS trust will be stronger than default.
+            gpsTrust = 100.0f / gpsSol.dop.pdop;
             // *** TO DO - investigate if we should use vDOP or vACC with UBlox units;
         }
         // always use at least 10% of other sources besides gps if available

src/main/msp/msp.c

@@ -1514,7 +1514,7 @@ case MSP_NAME:
         sbufWriteU16(dst, gpsSol.groundSpeed);
         sbufWriteU16(dst, gpsSol.groundCourse);
         // Added in API version 1.44
-        sbufWriteU16(dst, gpsSol.dop.hdop);
+        sbufWriteU16(dst, gpsSol.dop.pdop);
         break;
 
     case MSP_COMP_GPS:
@@ -3641,7 +3641,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
         gpsSol.acc.hAcc = sbufReadU16(src) * 10; // horizontal_pos_accuracy - convert cm to mm
         gpsSol.acc.vAcc = sbufReadU16(src) * 10; // vertical_pos_accuracy - convert cm to mm
         gpsSol.acc.sAcc = sbufReadU16(src) * 10; // horizontal_vel_accuracy - convert cm to mm
-        gpsSol.dop.hdop = sbufReadU16(src); // hdop
+        gpsSol.dop.pdop = sbufReadU16(src); // hdop in 4.4 and earlier, pdop in 4.5 and above
         gpsSol.llh.lon = sbufReadU32(src);
         gpsSol.llh.lat = sbufReadU32(src);
         gpsSol.llh.altCm = sbufReadU32(src); // alt

src/main/osd/osd.c

@@ -389,7 +389,7 @@ void pgResetFn_osdConfig(osdConfig_t *osdConfig)
     }
     osdConfig->rssi_dbm_alarm = -60;
     osdConfig->rsnr_alarm = 4;
-    osdConfig->gps_sats_show_hdop = false;
+    osdConfig->gps_sats_show_pdop = false;
 
     for (int i = 0; i < OSD_RCCHANNELS_COUNT; i++) {
         osdConfig->rcChannels[i] = -1;

src/main/osd/osd.h

@@ -330,7 +330,7 @@ typedef struct osdConfig_s {
     uint16_t link_quality_alarm;
     int16_t rssi_dbm_alarm;
     int16_t rsnr_alarm;
-    uint8_t gps_sats_show_hdop;
+    uint8_t gps_sats_show_pdop;
     int8_t rcChannels[OSD_RCCHANNELS_COUNT];  // RC channel values to display, -1 if none
     uint8_t displayPortDevice;                // osdDisplayPortDevice_e
     uint16_t distance_alarm;

src/main/osd/osd_elements.c

@@ -1151,7 +1151,7 @@ static void osdElementGpsSats(osdElementParms_t *element)
         tfp_sprintf(element->buff, "%c%cNC", SYM_SAT_L, SYM_SAT_R);
     } else {
         int pos = tfp_sprintf(element->buff, "%c%c%2d", SYM_SAT_L, SYM_SAT_R, gpsSol.numSat);
-        if (osdConfig()->gps_sats_show_hdop) { // add on the GPS module HDOP estimate
+        if (osdConfig()->gps_sats_show_pdop) { // add on the GPS module PDOP estimate
             element->buff[pos++] = ' ';
             osdPrintFloat(element->buff + pos, SYM_NONE, gpsSol.dop.pdop / 100.0f, "", 1, true, SYM_NONE);
         }

src/main/telemetry/frsky_hub.c

@@ -131,7 +131,7 @@ static frSkyHubWriteByteFn *frSkyHubWriteByte = NULL;
 #define ID_VERT_SPEED         0x30 // opentx vario
 
 #define GPS_BAD_QUALITY       300
-#define GPS_MAX_HDOP_VAL      9999
+#define GPS_MAX_DOP_VAL      9999
 #define DELAY_FOR_BARO_INITIALISATION_US 5000000
 #define BLADE_NUMBER_DIVIDER  5 // should set 12 blades in Taranis
 
@@ -288,8 +288,8 @@ static void sendSatalliteSignalQualityAsTemperature2(uint8_t cycleNum)
 {
     uint16_t satellite = gpsSol.numSat;
 
-    if (gpsSol.dop.hdop > GPS_BAD_QUALITY && ( (cycleNum % 16 ) < 8)) { // Every 1s
+    if (gpsSol.dop.pdop > GPS_BAD_QUALITY && ( (cycleNum % 16 ) < 8)) { // Every 1s
-        satellite = constrain(gpsSol.dop.hdop, 0, GPS_MAX_HDOP_VAL);
+        satellite = constrain(gpsSol.dop.pdop, 0, GPS_MAX_DOP_VAL);
     }
     int16_t data;
     if (telemetryConfig()->frsky_unit == UNIT_IMPERIAL) {

src/main/telemetry/ghst.c

@@ -209,7 +209,7 @@ typedef enum {
     GHST_FRAME_START_INDEX = 0,
     GHST_FRAME_PACK_INDEX = GHST_FRAME_START_INDEX, // Battery (Pack) data
     GHST_FRAME_GPS_PRIMARY_INDEX,                   // GPS, primary values (Lat, Long, Alt)
-    GHST_FRAME_GPS_SECONDARY_INDEX,                 // GPS, secondary values (Sat Count, HDOP, etc.)
+    GHST_FRAME_GPS_SECONDARY_INDEX,                 // GPS, secondary values (Sat Count, DOP, etc.)
     GHST_FRAME_MAGBARO_INDEX,                       // Magnetometer/Baro values
     GHST_SCHEDULE_COUNT_MAX
 } ghstFrameTypeIndex_e;

src/main/telemetry/smartport.c

@@ -795,9 +795,11 @@ void processSmartPortTelemetry(smartPortPayload_t *payload, volatile bool *clear
             case FSSP_DATAID_T2         :
 #ifdef USE_GPS
                 if (sensors(SENSOR_GPS)) {
-                    // satellite accuracy HDOP: 0 = worst [HDOP > 5.5m], 9 = best [HDOP <= 1.0m]
+                    // satellite accuracy PDOP: 0 = worst [PDOP > 5.5m], 9 = best [PDOP <= 1.0m]
-                    uint16_t hdop = constrain(scaleRange(gpsSol.dop.hdop, 100, 550, 9, 0), 0, 9) * 100;
+                    // the above comment isn't entirely right. DOP is accuracy relative to specified accuracy of the module, not a value in meters
-                    smartPortSendPackage(id, (STATE(GPS_FIX) ? 1000 : 0) + (STATE(GPS_FIX_HOME) ? 2000 : 0) + hdop + gpsSol.numSat);
+                    // eg a value of 1.0 means 1.0 times specified accuracy (typically 2m)
+                    uint16_t pdop = constrain(scaleRange(gpsSol.dop.pdop, 100, 550, 9, 0), 0, 9) * 100;
+                    smartPortSendPackage(id, (STATE(GPS_FIX) ? 1000 : 0) + (STATE(GPS_FIX_HOME) ? 2000 : 0) + pdop + gpsSol.numSat);
                     *clearToSend = false;
                 } else if (featureIsEnabled(FEATURE_GPS)) {
                     smartPortSendPackage(id, 0);

src/main/telemetry/srxl.c

@@ -277,7 +277,7 @@ typedef struct
     UINT32   latitude;      // BCD, format 4.4, Degrees * 100 + minutes, less than 100 degrees
     UINT32   longitude;     // BCD, format 4.4 , Degrees * 100 + minutes, flag indicates > 99 degrees
     UINT16   course;        // BCD, 3.1
-    UINT8    HDOP;          // BCD, format 1.1
+    UINT8    PDOP;          // BCD, format 1.1
     UINT8    GPSflags;      // see definitions below
 } STRU_TELE_GPS_LOC;
 */
@@ -296,8 +296,8 @@ bool srxlFrameGpsLoc(sbuf_t *dst, timeUs_t currentTimeUs)
     UNUSED(currentTimeUs);
     gpsCoordinateDDDMMmmmm_t coordinate;
     uint32_t latitudeBcd, longitudeBcd, altitudeLo;
-    uint16_t altitudeLoBcd, groundCourseBcd, hdop;
+    uint16_t altitudeLoBcd, groundCourseBcd, pdop;
-    uint8_t hdopBcd, gpsFlags;
+    uint8_t pdopBcd, gpsFlags;
 
     if (!featureIsEnabled(FEATURE_GPS) || !STATE(GPS_FIX) || gpsSol.numSat < GPS_MIN_SAT_COUNT) {
         return false;
@@ -318,10 +318,10 @@ bool srxlFrameGpsLoc(sbuf_t *dst, timeUs_t currentTimeUs)
     // Ground course
     groundCourseBcd = dec2bcd(gpsSol.groundCourse);
 
-    // HDOP
+    // PDOP
-    hdop = gpsSol.dop.hdop / 10;
+    pdop = gpsSol.dop.pdop / 10;
-    hdop = (hdop > 99) ? 99 : hdop;
+    pdop = (pdop > 99) ? 99 : pdop;
-    hdopBcd = dec2bcd(hdop);
+    pdopBcd = dec2bcd(pdop);
 
     // flags
     gpsFlags = GPS_FLAGS_GPS_DATA_RECEIVED_BIT | GPS_FLAGS_GPS_FIX_VALID_BIT | GPS_FLAGS_3D_FIX_BIT;
@@ -337,7 +337,7 @@ bool srxlFrameGpsLoc(sbuf_t *dst, timeUs_t currentTimeUs)
     sbufWriteU32(dst, latitudeBcd);
     sbufWriteU32(dst, longitudeBcd);
     sbufWriteU16(dst, groundCourseBcd);
-    sbufWriteU8(dst, hdopBcd);
+    sbufWriteU8(dst, pdopBcd);
     sbufWriteU8(dst, gpsFlags);
 
     return true;