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Improve satellite counts for multiGNSS GSA messages

pull/412/head
AvSquirrel 2016-05-08 16:36:05 +00:00
rodzic 1d4de4571f
commit 861debafbf
1 zmienionych plików z 20 dodań i 9 usunięć
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29
main/ry835ai.go
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@ -301,10 +301,10 @@ func initGPSSerial() bool {
// Message output configuration -- disable standard NMEA messages except 1Hz GGA
// Msg DDC UART1 UART2 USB I2C Res
p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x00, 0x00, 0x05, 0x00, 0x05, 0x00, 0x01})) // GGA
p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01})) // GLL
//p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01})) // GSA disabled
p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x02, 0x00, 0x05, 0x00, 0x05, 0x00, 0x01})) // GSA enabled for every 5th position
//p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01})) // GSV disabled
//p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01})) // GLL
p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01})) // GSA disabled
//p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x02, 0x00, 0x05, 0x00, 0x05, 0x00, 0x01})) // GSA enabled for every 5th position
p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01})) // GSV disabled
p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x03, 0x00, 0x05, 0x00, 0x05, 0x00, 0x01})) // GSV enabled for every 5th position
p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01})) // RMC
p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01})) // VGT
@ -316,9 +316,13 @@ func initGPSSerial() bool {
p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x0D, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // GNS
p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x0E, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // ???
p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x0F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // VLW
/*
p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF1, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00})) // Ublox,0
p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF1, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // Ublox,3
p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF1, 0x04, 0x0A, 0x0A, 0x0A, 0x0A, 0x0A, 0x00})) // Ublox,4
*/
p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF1, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00})) // Ublox,0
p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF1, 0x03, 0x0A, 0x0A, 0x0A, 0x0A, 0x0A, 0x00})) // Ublox,3
p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF1, 0x03, 0x05, 0x05, 0x05, 0x05, 0x05, 0x00})) // Ublox,3
p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF1, 0x04, 0x0A, 0x0A, 0x0A, 0x0A, 0x0A, 0x00})) // Ublox,4
// Reconfigure serial port.
@ -619,7 +623,7 @@ func processNMEALine(l string) (sentenceUsed bool) {
if err1 != nil {
return false
}
tmpSituation.Satellites = uint16(sat)
tmpSituation.Satellites = uint16(sat) // this seems to be reliable. UBX,03 handles >12 satellites solutions correctly.
// We've made it this far, so that means we've processed "everything" and can now make the change to mySituation.
mySituation = tmpSituation
@ -632,6 +636,8 @@ func processNMEALine(l string) (sentenceUsed bool) {
if err != nil {
return false
}
log.Printf("PUBX,03 message with %d satellites is %d fields long.\n", satTracked, len(x))
if satTracked <= 20 {
mySituation.SatellitesTracked = uint16(satTracked)
}
@ -1123,7 +1129,8 @@ func processNMEALine(l string) (sentenceUsed bool) {
}
}
tmpSituation.Satellites = uint16(sat)
//tmpSituation.Satellites = uint16(sat)
log.Printf("There are %d satellites in solution from this GSA message\n", sat) // TESTING - DEBUG
// field 16: HDOP
// Accuracy estimate
@ -1451,7 +1458,7 @@ func attitudeReaderSender() {
*/
func updateConstellation() {
var tracked, seen uint8
var sats, tracked, seen uint8
for svStr, thisSatellite := range Satellites {
if stratuxClock.Since(thisSatellite.TimeLastTracked) > 10*time.Second { // remove stale satellites if they haven't been tracked for 10 seconds
delete(Satellites, svStr)
@ -1464,11 +1471,15 @@ func updateConstellation() {
thisSatellite.InSolution = false
Satellites[svStr] = thisSatellite
}
if thisSatellite.InSolution { // TESTING: Determine "In solution" from structure (fix for multi-GNSS overflow)
sats++
}
// do any other calculations needed for this satellite
}
}
//log.Printf("Satellite counts: %d tracking channels, %d with >0 dB-Hz signal\n", tracked, seen) // DEBUG - REMOVE
//log.Printf("Satellite struct: %v\n", Satellites) // DEBUG - REMOVE
mySituation.Satellites = uint16(sats)
mySituation.SatellitesTracked = uint16(tracked)
mySituation.SatellitesSeen = uint16(seen)
}