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Fix the pressure data merge with GPS data at higher GPS update rates

pull/30/head
Pawel Jalocha 2020-12-25 22:16:06 +00:00
rodzic 158bfafa5d
commit 31c237db84
2 zmienionych plików z 21 dodań i 21 usunięć
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5
main/gps.cpp
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@ -398,8 +398,8 @@ static void GPS_BurstStart(void) // wh
GPS_Cmd[Len]=0;
Format_String(GPS_UART_Write, GPS_Cmd, Len, 0);
#endif // WITH_GPS_SRF
GPS_UART_Flush(500); // wait for all data to be sent to the GPS
GPS_UART_SetBaudrate(GPS_TargetBaudRate); GPS_BaudRate=GPS_TargetBaudRate; // switch serial port to the new baudrate
// GPS_UART_Flush(500); // wait for all data to be sent to the GPS
// GPS_UART_SetBaudrate(GPS_TargetBaudRate); GPS_BaudRate=GPS_TargetBaudRate; // switch serial port to the new baudrate
}
QueryWait=60;
}
@ -539,6 +539,7 @@ static void GPS_BurstComplete(void) // wh
GPS_Pos[NextPosIdx].Clear(); // clear the next position
GPS_Pos[NextPosIdx].copyTime(GPS_Pos[GPS_PosIdx]); // copy time from current position
GPS_Pos[NextPosIdx].incrTimeFrac(GPS_PosPeriod); // increment time by the expected period
GPS_Pos[NextPosIdx].copyBaro(GPS_Pos[GPS_PosIdx], (int16_t)GPS_PosPeriod);
Flight.Process(GPS_Pos[GPS_PosIdx]);
// GPS_Pos[NextPosIdx].copyDate(GPS_Pos[GPS_PosIdx]);
#ifdef DEBUG_PRINT

37
main/ogn.h
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@ -667,13 +667,13 @@ class GPS_Time
bool isDateValid(void) const // is the GPS date valid ?
{ return (Year>=0) && (Month>=0) && (Day>=0); }
void incrTimeFrac(int16_t msFrac) // [ms]
int8_t incrTimeFrac(int16_t msFrac) // [ms]
{ mSec+=msFrac;
if(mSec>=1000) { incrTime(); mSec-=1000; }
else if(mSec<0) { decrTime(); mSec+=1000; }
}
if(mSec>=1000) { mSec-=1000; return incrTime(); }
else if(mSec<0) { mSec+=1000; return decrTime(); }
return 0; }
uint8_t incrTime(void) // increment HH:MM:SS by one second
int8_t incrTime(void) // increment HH:MM:SS by one second
{ Sec++; if(Sec<60) return 0;
Sec=0;
Min++; if(Min<60) return 0;
@ -682,14 +682,14 @@ class GPS_Time
Hour=0;
return 1; } // return 1 if date needs to be incremented
uint8_t decrTime(void) // decrement HH:MM:SS by one second
int8_t decrTime(void) // decrement HH:MM:SS by one second
{ if(Sec>0) { Sec--; return 0; }
Sec=60;
if(Min>60) { Min--; return 0; }
Min=60;
if(Hour>0) { Hour--; return 0; }
Hour=24;
return 1; } // return 1 if date needs to be decremented
return -1; } // return 1 if date needs to be decremented
int32_t calcTimeDiff(const GPS_Time &RefTime) const
{ int32_t TimeDiff = msDayTime() - RefTime.msDayTime(); // [ms]
@ -880,20 +880,19 @@ class GPS_Position: public GPS_Time
if(FixMode==1) return 0; // if GSA says "no lock" (when GSA is not there, FixMode=0)
if(Satellites<=0) return 0; // if number of satellites none or invalid
return 1; }
/*
void copyTime(GPS_Position &RefPosition) // copy HH:MM:SS.SSS from another record
{ FracSec = RefPosition.FracSec;
Sec = RefPosition.Sec;
Min = RefPosition.Min;
Hour = RefPosition.Hour; }
void copyDate(GPS_Position &RefPosition) // copy YY:MM:DD from another record
{ Day = RefPosition.Day;
Month = RefPosition.Month;
Year = RefPosition.Year; }
void copyBaro(GPS_Position &RefPos, int16_t dTime=0)
{ if(!RefPos.hasBaro) { hasBaro=0; return; }
StdAltitude = RefPos.StdAltitude;
Pressure = RefPos.Pressure;
Temperature = RefPos.Temperature;
Humidity = RefPos.Humidity;
if(dTime)
{ int32_t dAlt = calcAltitudeExtrapolation(dTime); // [0.1m]
StdAltitude += dAlt; // [0.1m]
Pressure += 4000*dAlt/Atmosphere::PressureLapseRate(Pressure/4, Temperature); } // [0.25Pa] ([Pa], [0.1degC])
hasBaro=1; }
void copyTimeDate(GPS_Position &RefPosition) { copyTime(RefPosition); copyDate(RefPosition); }
*/
#ifndef __AVR__ // there is not printf() with AVR
void PrintDateTime(void) const { printf("%02d.%02d.%04d %02d:%02d:%06.3f", Day, Month, 2000+Year, Hour, Min, Sec+0.001*mSec ); }
void PrintTime(void) const { printf("%02d:%02d:%06.3f", Hour, Min, Sec+0.001*mSec ); }