[flight][gps-no-lock] Change behaviour when GPS looses lock, refactor gps_is_locked to return enum

* Transmit UHF telemetery with no lock
* Hibernate for <1s with no lock, regardless of flight state

firmware/inc/gps.h

@@ -31,7 +31,7 @@
 /**
  * GPS Error types
  */
-enum gps_error_t {
+enum gps_error {
   GPS_NOERROR,
   GPS_ERROR_BAD_CHECKSUM,
   GPS_ERROR_INVALID_FRAME,
@@ -40,11 +40,19 @@ enum gps_error_t {
 /**
  * GPS Flight State
  */
-enum gps_flight_state_t {
+enum gps_flight_state {
   GPS_FLIGHT_STATE_LAUNCH,
   GPS_FLIGHT_STATE_FLOAT,
 };
 
+/**
+ * GPS Lock State
+ */
+enum gps_lock_state {
+  GPS_NO_LOCK = 0,
+  GPS_LOCKED  = 1,
+};
+
 /* UBX ------------------------------------------------------------- */
 #ifdef GPS_TYPE_UBX
 
@@ -93,7 +101,7 @@ struct gps_data_t {
 };
 
 
-enum gps_error_t gps_get_error_state(void);
+enum gps_error gps_get_error_state(void);
 struct gps_data_t gps_get_data(void);
 
 void gps_setup(void);
@@ -117,7 +125,7 @@ struct gps_data_t {
   uint8_t time_to_first_fix;    /* seconds / counts */
 };
 
-enum gps_error_t gps_get_error_state(void);
+enum gps_error gps_get_error_state(void);
 struct gps_data_t gps_get_data(void);
 
 void gps_setup(void);
@@ -125,8 +133,8 @@ void gps_setup(void);
 #endif  /* GPS_TYPE_DUMMY */
 
 /* All ------------------------------------------------------------ */
-enum gps_flight_state_t gps_get_flight_state(void);
-uint8_t gps_is_locked(void);
+enum gps_flight_state gps_get_flight_state(void);
+enum gps_lock_state gps_is_locked(void);
 
 void gps_usart_init_enable(uint32_t baud_rate);
 void gps_reset(void);

firmware/src/gps_osp.c

@@ -56,26 +56,26 @@ int32_t osp_index = SFD_WAITING;
 uint16_t osp_payload_length = 0;
 uint8_t osp_irq_buffer[OSP_BUFFER_LEN];
 
-volatile enum gps_error_t gps_error_state;
+volatile enum gps_error gps_error_state;
 
 /**
  * GPS Active?
  */
-enum gps_power_state_t {
+enum gps_power_state {
   GPS_HIBERNATE	= 0,
   GPS_ACTIVE	= 1,
 };
-enum gps_power_state_t gps_power_state = GPS_HIBERNATE;
+enum gps_power_state gps_power_state = GPS_HIBERNATE;
 
 /**
  * Flight State
  */
-enum gps_flight_state_t gps_flight_state = GPS_FLIGHT_STATE_LAUNCH;
+enum gps_flight_state gps_flight_state = GPS_FLIGHT_STATE_LAUNCH;
 
 /**
  * Lock State
  */
-uint8_t gps_is_locked_priv = 0;
+enum gps_lock_state gps_is_locked_priv = GPS_NO_LOCK;
 
 /**
  * OSP Output Ack/Nack
@@ -476,7 +476,7 @@ void _osp_send_message(osp_message_t* message, uint8_t* payload, uint16_t length
 /**
  * Returns current flight state
  */
-enum gps_flight_state_t gps_get_flight_state(void)
+enum gps_flight_state gps_get_flight_state(void)
 {
   return gps_flight_state;
 }
@@ -532,7 +532,7 @@ void gps_make_hibernate(void)
 /**
  * Lock state. Set by gps_get_data
  */
-uint8_t gps_is_locked(void)
+enum gps_lock_state gps_is_locked(void)
 {
   return gps_is_locked_priv;
 }
@@ -547,7 +547,7 @@ uint8_t gps_is_locked(void)
  * Gets the current error state of the GPS to check validity of last
  * request
  */
-enum gps_error_t gps_get_error_state(void)
+enum gps_error gps_get_error_state(void)
 {
   return gps_error_state;
 }

firmware/src/main.c

@@ -170,7 +170,7 @@ void aprs_telemetry(struct tracker_datapoint* dp)
 {
   struct tracker_datapoint* backlog_dp_ptr;
 
-  if (!gps_is_locked()) return; /* Don't bother with no GPS */
+  if (gps_is_locked() == GPS_NO_LOCK) return; /* Don't bother with no GPS */
 
   /* Set location */
   aprs_set_datapoint(dp);
@@ -215,10 +215,14 @@ uint32_t hibernate_time_s = 1;
  */
 void set_hibernate_time(void)
 {
-  if (gps_get_flight_state() == GPS_FLIGHT_STATE_LAUNCH) {
-    hibernate_time_s = 60-20;      /* approx every minute */
+  if (gps_is_locked() == GPS_NO_LOCK) {   /* no lock  */
+    hibernate_time_s = 0;       /* shortest hibernate */
+
+  } else if (gps_get_flight_state() == GPS_FLIGHT_STATE_LAUNCH) {
+    hibernate_time_s = 60-20;   /* approx every minute */
+
   } else {
-    hibernate_time_s = 240-20;     /* approx every 4 minutes  */
+    hibernate_time_s = 240-20;  /* approx every 4 minutes  */
   }
 }
 /**

firmware/src/sequencer.c

@@ -55,7 +55,8 @@ void telemetry_sequence(struct tracker_datapoint* dp, uint32_t n)
 #if RF_TX_ENABLE
 #if TELEMETRY_ENABLE
 #if TELEMETRY_USE_GEOFENCE
-  if (location_telemetry_active()) {
+  if (location_telemetry_active() ||      /* in geofence */
+      (gps_is_locked() == GPS_NO_LOCK)) { /* or no lock  */
 #endif
 
     /* Pips */
@@ -106,8 +107,8 @@ void run_sequencer(uint32_t n)
   telemetry_sequence(dp, n);
 
   /* Backlog */
-  if (((n % 15) == 10) &&         /* Once per hour with 4 minute wakeup */
-      gps_is_locked()) {          /* And the gps is locked */
+  if (((n % 15) == 10) &&     /* Once per hour with 4 minute wakeup */
+      gps_is_locked() == GPS_LOCKED) { /* And the gps is locked */
     record_backlog(dp);
   }
 }