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[gps_osp] detect gps invalid if position (lat,long AND alt) remain _exactly_ the same between positions

main-solar-only
Richard Meadows 2016-04-14 17:26:46 +01:00
rodzic 3889e526fb
commit 01a0b2761a
1 zmienionych plików z 16 dodań i 4 usunięć
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20
firmware/src/gps_osp.c
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@ -653,11 +653,15 @@ uint32_t gd_count = 0;
uint32_t gd_nolock_count = 0;
#define GD_NOLOCK_COUNT_MAX (10) /* 10 minutes will always be enough to get a lock */
/* Invalid if position is outside the range we expect */
/* Position invalid */
uint8_t gd_invalid_count = 0;
#define GD_INVALID_COUNT_MAX (5)
/* It may be outside the rannge of altitudes we expect */
#define GD_ALTITUDE_50M (50*1000) /* mm */
#define GD_ALTITUDE_20KM (20*1000*1000) /* mm */
/* Or it may be _exactly_ the same as the previous, which is unexpected */
int32_t gd_last_latitude, gd_last_longitude;
int32_t gd_last_altitude;
#define GD_INVALID_ALTITUDE_MIN GD_ALTITUDE_50M
#define GD_INVALID_ALTITUDE_MAX GD_ALTITUDE_20KM
@ -697,16 +701,24 @@ struct gps_data_t gps_get_data_wrapped(void)
gd_nolock_count = 0;
/* if we do have a lock, might still be invalid */
if ((data.altitude < GD_INVALID_ALTITUDE_MIN) ||
(data.altitude > GD_INVALID_ALTITUDE_MAX)) {
if (((data.altitude < GD_INVALID_ALTITUDE_MIN) ||
(data.altitude > GD_INVALID_ALTITUDE_MAX)) || /* altitude out of range */
((data.latitude == gd_last_latitude ) &&
(data.longitude == gd_last_longitude) &&
(data.altitude == gd_last_altitude))) { /* OR _all_ position values _exactly_ as before */
gd_invalid_count++;
} else {
/* everything is working well */
gd_invalid_count = 0;
gd_reinit_count = 0;
gd_reinit_count = 0;
}
}
/* record values */
gd_last_latitude = data.latitude;
gd_last_longitude = data.longitude;
gd_last_altitude = data.altitude;
return data;
}