Longer GPS position history for state monitoring

main/gps.cpp

@@ -461,7 +461,7 @@ static void GPS_BurstComplete(void)                                        // wh
   }
   uint8_t NextPosIdx = (PosIdx+1)&PosPipeIdxMask;                         // next position to be recorded
   if( Position[PosIdx].isTimeValid() && Position[NextPosIdx].isTimeValid() )
-  { int16_t Period = Position[PosIdx].calcTimeDiff(Position[NextPosIdx]);
+  { int32_t Period = Position[PosIdx].calcTimeDiff(Position[NextPosIdx]);
     if(Period>0) GPS_PosPeriod = (Period+GPS_PosPipeSize/2)/(GPS_PosPipeSize-1);
 #ifdef DEBUG_PRINT
     xSemaphoreTake(CONS_Mutex, portMAX_DELAY);
@@ -475,7 +475,6 @@ static void GPS_BurstComplete(void)                                        // wh
     Format_String(CONS_UART_Write, "s\n");
     xSemaphoreGive(CONS_Mutex);
 #endif
-
   }
   Position[NextPosIdx].Clear();                                           // clear the next position
   // int8_t Sec = Position[PosIdx].Sec;                                      //

main/gps.h

@@ -7,7 +7,11 @@
 
 #include "lowpass2.h"
 
-const  uint8_t GPS_PosPipeSize         = 4; // number of GPS positions held in a pipe
+#ifdef WITH_ESP32
+const  uint8_t GPS_PosPipeSize         = 32; // number of GPS positions held in a pipe
+#else
+const  uint8_t GPS_PosPipeSize         =  4; // number of GPS positions held in a pipe
+#endif
 
 // extern uint8_t GPS_PowerMode;               // 0=shutdown, 1=reduced, 2=normal
 

main/ogn.h

@@ -1018,10 +1018,10 @@ class GPS_Position
      calcLatitudeCosine();
      return 1; }
 
-   int16_t calcTimeDiff(GPS_Position &RefPos) const
-   { int16_t TimeDiff = (FracSec+(int16_t)Sec*100) - (RefPos.FracSec+(int16_t)RefPos.Sec*100);
-     if(TimeDiff<(-3000)) TimeDiff+=6000;
-     else if(TimeDiff>=3000) TimeDiff-=6000;
+   int32_t calcTimeDiff(GPS_Position &RefPos) const
+   { int32_t TimeDiff = ((int32_t)Min*6000+(int16_t)Sec*100+FracSec) - ((int32_t)RefPos.Min*6000+(int16_t)RefPos.Sec*100+RefPos.FracSec);
+     if(TimeDiff<(-180000)) TimeDiff+=360000;                                               // wrap-around 60min
+     else if(TimeDiff>=180000) TimeDiff-=360000;
      return TimeDiff; }                                                                     // [0.01s]
 
    int16_t calcDifferentials(GPS_Position &RefPos) // calculate climb rate and turn rate with an earlier reference position

main/parameters.h

@@ -48,7 +48,7 @@ class FlashParameters
    { uint32_t Console;
      struct
      { uint32_t  CONbaud:24; // [bps] Console baud rate
-       uint8_t   CONprot: 8; // [bit-mask] Console protocol mask: 0=minGPS, 1=allGPS, 2=Baro, 3=UBX, 4=OGN, 5=FLARM, 6=GDL90, 7=
+       uint8_t   CONprot: 8; // [bit-mask] Console protocol mask: 0=minGPS, 1=allGPS, 2=Baro, 3=UBX, 4=OGN, 5=FLARM, 6=GDL90, 7=$PGAV5
      } ;
    } ;