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

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ctzsnooze 2024-04-04 09:08:40 +11:00 • committed by GitHub
parent fb14365e66
commit 5457032838
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10 changed files with 28 additions and 24 deletions
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2
src/main/cli/settings.c
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@ -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) },

8
src/main/flight/position.c
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@ -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) {
gpsTrust = 100.0f / gpsSol.dop.hdop;
if (gpsSol.dop.pdop != 0) {
// 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

4
src/main/msp/msp.c
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@ -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

2
src/main/osd/osd.c
View file

@ -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;

2
src/main/osd/osd.h
View file

@ -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;

2
src/main/osd/osd_elements.c
View file

@ -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);
}

6
src/main/telemetry/frsky_hub.c
View file

@ -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
satellite = constrain(gpsSol.dop.hdop, 0, GPS_MAX_HDOP_VAL);
if (gpsSol.dop.pdop > GPS_BAD_QUALITY && ( (cycleNum % 16 ) < 8)) { // Every 1s
satellite = constrain(gpsSol.dop.pdop, 0, GPS_MAX_DOP_VAL);
}
int16_t data;
if (telemetryConfig()->frsky_unit == UNIT_IMPERIAL) {

2
src/main/telemetry/ghst.c
View file

@ -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;

8
src/main/telemetry/smartport.c
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@ -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]
uint16_t hdop = constrain(scaleRange(gpsSol.dop.hdop, 100, 550, 9, 0), 0, 9) * 100;
smartPortSendPackage(id, (STATE(GPS_FIX) ? 1000 : 0) + (STATE(GPS_FIX_HOME) ? 2000 : 0) + hdop + gpsSol.numSat);
// satellite accuracy PDOP: 0 = worst [PDOP > 5.5m], 9 = best [PDOP <= 1.0m]
// the above comment isn't entirely right. DOP is accuracy relative to specified accuracy of the module, not a value in meters
// 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);

16
src/main/telemetry/srxl.c
View file

@ -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;
uint8_t hdopBcd, gpsFlags;
uint16_t altitudeLoBcd, groundCourseBcd, pdop;
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
hdop = gpsSol.dop.hdop / 10;
hdop = (hdop > 99) ? 99 : hdop;
hdopBcd = dec2bcd(hdop);
// PDOP
pdop = gpsSol.dop.pdop / 10;
pdop = (pdop > 99) ? 99 : pdop;
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;