kopia lustrzana https://github.com/pjalocha/esp32-ogn-tracker
Include other GNSS systems in the average SNR
Pawel Jalocha
rodzic
eec3dc8c71
commit
8a1b117cbb
55
main/gps.cpp
55
main/gps.cpp
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@ -109,10 +109,11 @@ FlightMonitor Flight;
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// ----------------------------------------------------------------------------
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static char GPS_Cmd[64];
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static char GPS_Cmd[64]; // command to be send to the GPS
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static uint16_t SatSNRsum = 0; // sum up the satellite SNR's
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static uint8_t SatSNRcount = 0; // sum counter
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// Satellite count and SNR per system, 0=GPS, 1=GLONASS, 2=GALILEO, 3=BEIDO
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static uint16_t SatSNRsum[4] = { 0, 0, 0, 0 }; // sum up the satellite SNR's
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static uint8_t SatSNRcount[4] = { 0, 0, 0, 0 }; // sum counter
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struct GPS_Sat // store GPS satellite data in single 32-bit word
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{ union
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@ -136,33 +137,43 @@ static void ProcessGSV(NMEA_RxMsg &GSV) // process GxGSV to extract
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Format_String(CONS_UART_Write, ")\n");
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xSemaphoreGive(CONS_Mutex);
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#endif
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if(!GSV.isGPGSV()) return; // for now, only the GPS satellites, before we learn to mix the others in
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uint8_t SatSys=0;
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if(GSV.isGPGSV()) { SatSys=0; }
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else if(GSV.isGLGSV()) { SatSys=1; }
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else if(GSV.isGAGSV()) { SatSys=2; }
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else return;
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if(GSV.Parms<3) return;
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int8_t Pkts=Read_Dec1((const char *)GSV.ParmPtr(0)); if(Pkts<0) return;
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int8_t Pkt =Read_Dec1((const char *)GSV.ParmPtr(1)); if(Pkt <0) return;
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int8_t Sats=Read_Dec2((const char *)GSV.ParmPtr(2)); //
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if(Sats<0) Sats=Read_Dec1((const char *)GSV.ParmPtr(2)); //
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int8_t Pkts=Read_Dec1((const char *)GSV.ParmPtr(0)); if(Pkts<0) return; // how many packets to pass all sats
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int8_t Pkt =Read_Dec1((const char *)GSV.ParmPtr(1)); if(Pkt <0) return; // which packet in the sequence
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int8_t Sats=Read_Dec2((const char *)GSV.ParmPtr(2)); // total number of satellites
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if(Sats<0) Sats=Read_Dec1((const char *)GSV.ParmPtr(2)); // could be a single or double digit number
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if(Sats<0) return;
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for( int Parm=3; Parm<GSV.Parms; )
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{ int8_t PRN =Read_Dec2((const char *)GSV.ParmPtr(Parm++)); if(PRN <0) break;
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int8_t Elev=Read_Dec2((const char *)GSV.ParmPtr(Parm++)); if(Elev<0) break;
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int16_t Azim=Read_Dec3((const char *)GSV.ParmPtr(Parm++)); if(Azim<0) break;
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int8_t SNR =Read_Dec2((const char *)GSV.ParmPtr(Parm++)); if(SNR<=0) continue;
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SatSNRsum+=SNR; SatSNRcount++; }
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if(Pkt==Pkts)
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if(Pkt==1) { SatSNRsum[SatSys]=0; SatSNRcount[SatSys]=0; } // if 1st packet then clear the sum and counter
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for( int Parm=3; Parm<GSV.Parms; ) // up to 4 sats per packet
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{ int8_t PRN =Read_Dec2((const char *)GSV.ParmPtr(Parm++)); if(PRN <0) break; // PRN number
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int8_t Elev=Read_Dec2((const char *)GSV.ParmPtr(Parm++)); if(Elev<0) break; // [deg] eleveation
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int16_t Azim=Read_Dec3((const char *)GSV.ParmPtr(Parm++)); if(Azim<0) break; // [deg] azimuth
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int8_t SNR =Read_Dec2((const char *)GSV.ParmPtr(Parm++)); if(SNR<=0) continue; // [dB] SNR or absent when not tracked
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SatSNRsum[SatSys]+=SNR; SatSNRcount[SatSys]++; } // add up SNR
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if(Pkt==Pkts) // if the last packet
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{
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#ifdef DEBUG_PRINT
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xSemaphoreTake(CONS_Mutex, portMAX_DELAY);
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Format_String(CONS_UART_Write, "SatSNR: ");
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Format_UnsDec(CONS_UART_Write, SatSNRsum);
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Format_String(CONS_UART_Write, "SatSNR[");
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CONS_UART_Write('0'+SatSys);
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Format_String(CONS_UART_Write, "] ");
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Format_UnsDec(CONS_UART_Write, SatSNRsum[SatSys]);
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CONS_UART_Write('/');
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Format_UnsDec(CONS_UART_Write, (uint16_t)SatSNRcount);
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Format_UnsDec(CONS_UART_Write, (uint16_t)SatSNRcount[SatSys]);
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Format_String(CONS_UART_Write, "\n");
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xSemaphoreGive(CONS_Mutex);
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#endif
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if(SatSNRcount) GPS_SatSNR = (4*SatSNRsum+SatSNRcount/2)/SatSNRcount;
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else GPS_SatSNR = 0;
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SatSNRsum=0; SatSNRcount=0; }
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uint8_t Count=0; uint16_t Sum=0;
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for(uint8_t Sys=0; Sys<4; Sys++)
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{ Count+=SatSNRcount[Sys]; Sum+=SatSNRsum[Sys]; }
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if(Count) GPS_SatSNR = (4*Sum+Count/2)/Count;
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else GPS_SatSNR = 0;
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}
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}
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// ----------------------------------------------------------------------------
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@ -342,7 +353,7 @@ static void GPS_BurstStart(int CharDelay=0) // when GPS starts sending the data
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GPS_Cmd[Len++]=',';
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GPS_Cmd[Len++]='0'; // GALILEO full mode (whatever it is ?) (not supported yet)
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GPS_Cmd[Len++]=',';
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GPS_Cmd[Len++]='0'; // search (or not) for BAIDOU satellites (not supported yet)
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GPS_Cmd[Len++]='0'+Parameters.EnableBEI; // search (or not) for BAIDOU satellites (not supported yet ?)
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Len += NMEA_AppendCheck(GPS_Cmd, Len);
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GPS_Cmd[Len++]='\r';
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GPS_Cmd[Len++]='\n';
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20
main/nmea.h
20
main/nmea.h
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@ -98,6 +98,14 @@ inline uint8_t NMEA_AppendCheckCRNL(char *NMEA, uint8_t Len) { return NMEA_Appen
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{ if(Data[1]!='G') return 0;
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return Data[2]=='P'; }
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uint8_t isGL(void) const // GLONASS sentence ?
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{ if(Data[1]!='G') return 0;
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return Data[2]=='L'; }
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uint8_t isGA(void) const // GALILEO sentence ?
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{ if(Data[1]!='G') return 0;
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return Data[2]=='A'; }
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uint8_t isGN(void) const
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{ if(Data[1]!='G') return 0;
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return Data[2]=='N'; }
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@ -187,13 +195,19 @@ inline uint8_t NMEA_AppendCheckCRNL(char *NMEA, uint8_t Len) { return NMEA_Appen
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if(Data[4]!='S') return 0;
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return Data[5]=='V'; }
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uint8_t isGNGSV(void) const // Combined atellite data
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{ if(!isGN()) return 0;
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uint8_t isGLGSV(void) const // GLONASS satellite data
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{ if(!isGL()) return 0;
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if(Data[3]!='G') return 0;
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if(Data[4]!='S') return 0;
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return Data[5]=='V'; }
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uint8_t isGPTXT(void) const // GPS satellite data
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uint8_t isGAGSV(void) const // GALILEO satellite data
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{ if(!isGA()) return 0;
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if(Data[3]!='G') return 0;
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if(Data[4]!='S') return 0;
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return Data[5]=='V'; }
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uint8_t isGPTXT(void) const // GPS test message
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{ if(!isGP()) return 0;
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if(Data[3]!='T') return 0;
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if(Data[4]!='X') return 0;
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@ -87,13 +87,14 @@ class FlashParameters
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union
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{ uint8_t GNSS;
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struct
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{ bool EnableGPS :1; //
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bool EnableSBAS:1; //
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bool EnableGAL :1; //
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bool EnableBEI :1; //
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bool EnableIMES:1; //
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bool EnableQZSS:1; //
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bool EnableGLO :1; //
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{ bool EnableGPS :1; // 1
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bool EnableSBAS:1; // 1
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bool EnableGAL :1; // 1
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bool EnableBEI :1; // 0
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bool EnableIMES:1; // 0
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bool EnableQZSS:1; // 1
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bool EnableGLO :1; // 1
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//
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} ;
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} ;
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