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[gps_osp] gps_get_data_wrapper: only invalid if locked

main-solar-only
Richard Meadows 2016-03-02 14:19:19 +00:00
rodzic c7050a1fb7
commit 20dfc447a7
1 zmienionych plików z 14 dodań i 11 usunięć
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25
firmware/src/gps_osp.c
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@ -662,17 +662,20 @@ uint8_t gd_nolock_count = 0;
/* Invalid if position is outside the range we expect */
uint8_t gd_invalid_count = 0;
#define GD_INVALID_COUNT_MAX (3)
#define GD_INVALID_50M_ALITUDE (50*1000) /* mm */
#define GD_INVALID_20KM_ALTITUDE (20*1000*1000) /* mm */
#define GD_INVALID_ALITUDE_50M (50*1000) /* mm */
#define GD_INVALID_ALTITUDE_20KM (20*1000*1000) /* mm */
#define GD_INVALID_ALTITUDE_MIN (0) /* testing */
#define GD_INVALID_ALTITUDE_MAX (1000*1000)
/**
* gps_get_data, but with re-initialisation as required
*/
struct gps_data_t gps_get_data_wrapped(void)
{
if ((gd_count > GD_COUNT_MAX) ||
(gd_nolock_count > GD_NOLOCK_COUNT_MAX) ||
(gd_invalid_count > GD_INVALID_COUNT_MAX)) {
if ((gd_count >= GD_COUNT_MAX) ||
(gd_nolock_count >= GD_NOLOCK_COUNT_MAX) ||
(gd_invalid_count >= GD_INVALID_COUNT_MAX)) {
/* reinitialise */
gps_reinit();
/* and reset this */
@ -691,13 +694,13 @@ struct gps_data_t gps_get_data_wrapped(void)
gd_nolock_count++;
} else {
gd_nolock_count = 0;
}
/* Invalid */
if ((data.altitude < GD_INVALID_50M_ALITUDE) || (data.altitude > GD_INVALID_20KM_ALTITUDE)) {
gd_invalid_count++;
} else {
gd_invalid_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)) {
gd_invalid_count++;
} else {
gd_invalid_count = 0;
}
}
return data;