Detect disconnected GPS. Update web UI and attempt reconnect.

linux-mpu9150

@@ -1 +1 @@
-Subproject commit af550804eff32bbef740bbaeb62eb0b4094496c7
+Subproject commit 56658ffe83c23fde04fccc8e747bf9b7c1e184ea

main/gen_gdl90.go

@@ -713,20 +713,27 @@ func cpuTempMonitor() {
 }
 
 func updateStatus() {
+	if mySituation.quality == 2 {
+		globalStatus.GPS_solution = "DGPS (SBAS / WAAS)"
+	} else if mySituation.quality == 1 {
+		globalStatus.GPS_solution = "3D GPS"
+	} else if mySituation.quality == 6 {
+		globalStatus.GPS_solution = "Dead Reckoning"
+	} else {
+		globalStatus.GPS_solution = "No Fix"
+	}
+	if !isGPSConnected() {
+		mySituation.Satellites = 0
+		mySituation.SatellitesSeen = 0
+		mySituation.SatellitesTracked = 0
+		mySituation.quality = 0
+		globalStatus.GPS_solution = "Disconnected"
+		globalStatus.GPS_connected = false
+	}
+
 	globalStatus.GPS_satellites_locked = mySituation.Satellites
 	globalStatus.GPS_satellites_seen = mySituation.SatellitesSeen
 	globalStatus.GPS_satellites_tracked = mySituation.SatellitesTracked
-	if isGPSValid() {
-		if mySituation.quality == 2 {
-			globalStatus.GPS_solution = "DGPS (SBAS / WAAS)"
-		} else if mySituation.quality == 1 {
-			globalStatus.GPS_solution = "3D GPS"
-		} else if mySituation.quality == 6 {
-			globalStatus.GPS_solution = "Dead Reckoning"
-		} else {
-			globalStatus.GPS_solution = "No Fix"
-		}
-	}
 
 	// Update Uptime value
 	globalStatus.Uptime = int64(stratuxClock.Milliseconds)

main/ry835ai.go

@@ -51,6 +51,7 @@ type SituationData struct {
 	TrueCourse              uint16
 	GroundSpeed             uint16
 	LastGroundTrackTime     time.Time
+	LastNMEAMessage         time.Time // time valid NMEA message last seen
 
 	mu_Attitude *sync.Mutex
 
@@ -367,6 +368,8 @@ func processNMEALine(l string) bool {
 	}
 	x := strings.Split(l_valid, ",")
 
+	mySituation.LastNMEAMessage = stratuxClock.Time
+
 	if x[0] == "PUBX" { // UBX proprietary message
 		if x[1] == "00" { // position message
 			if len(x) < 20 {
@@ -871,18 +874,19 @@ func processNMEALine(l string) bool {
 
 func gpsSerialReader() {
 	defer serialPort.Close()
-	for globalSettings.GPS_Enabled && globalStatus.GPS_connected {
+	//for globalSettings.GPS_Enabled && globalStatus.GPS_connected { // we never break out of the 'for scanner.Scan()...' loop. Remove to keep multiple instances from running
 
-		scanner := bufio.NewScanner(serialPort)
-		for scanner.Scan() {
-			s := scanner.Text()
-			// log.Printf("Output: %s\n", s)
-			processNMEALine(s)
-		}
-		if err := scanner.Err(); err != nil {
-			log.Printf("reading standard input: %s\n", err.Error())
-		}
+	scanner := bufio.NewScanner(serialPort)
+	for scanner.Scan() && globalStatus.GPS_connected && globalSettings.GPS_Enabled {
+		s := scanner.Text()
+		// log.Printf("Output: %s\n", s)
+		processNMEALine(s)
 	}
+	if err := scanner.Err(); err != nil {
+		log.Printf("reading standard input: %s\n", err.Error())
+	}
+	//}
+	log.Printf("Exiting gpsSerialReader()\n")
 	globalStatus.GPS_connected = false
 }
 
@@ -1021,6 +1025,10 @@ func attitudeReaderSender() {
 	globalStatus.RY835AI_connected = false
 }
 
+func isGPSConnected() bool {
+	return stratuxClock.Since(mySituation.LastNMEAMessage) < 5*time.Second
+}
+
 func isGPSValid() bool {
 	return stratuxClock.Since(mySituation.LastFixLocalTime) < 15*time.Second
 }