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Updates to gps.go 

tweaks after testing on stratux
pull/585/head
kjablonski 2017-03-27 21:49:01 -05:00 zatwierdzone przez GitHub
rodzic aaf2025968
commit 992367e50a
1 zmienionych plików z 13 dodań i 11 usunięć
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24
main/gps.go
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@ -33,7 +33,7 @@ const (
SAT_TYPE_UNKNOWN = 0 // default type SAT_TYPE_UNKNOWN = 0 // default type
SAT_TYPE_GPS = 1 // GPxxx; NMEA IDs 1-32 SAT_TYPE_GPS = 1 // GPxxx; NMEA IDs 1-32
SAT_TYPE_GLONASS = 2 // GLxxx; NMEA IDs 65-88 SAT_TYPE_GLONASS = 2 // GLxxx; NMEA IDs 65-88
SAT_TYPE_GALILEO = 3 // GAxxx; NMEA IDs 301-332 SAT_TYPE_GALILEO = 3 // GAxxx; NMEA IDs
SAT_TYPE_BEIDOU = 4 // GBxxx; NMEA IDs 201-235 SAT_TYPE_BEIDOU = 4 // GBxxx; NMEA IDs 201-235
SAT_TYPE_SBAS = 10 // NMEA IDs 33-54 SAT_TYPE_SBAS = 10 // NMEA IDs 33-54
) )
@ -254,8 +254,8 @@ func initGPSSerial() bool {
// Byte order for UBX configuration is little endian. // Byte order for UBX configuration is little endian.
// Set 10 Hz update to make gpsattitude more responsive for ublox7/8. // Set 10 Hz update to make gpsattitude more responsive for ublox7/8.
p.Write(makeUBXCFG(0x06, 0x08, 6, []byte{0x64, 0x00, 0x01, 0x00, 0x01, 0x00})) // 10 Hz //p.Write(makeUBXCFG(0x06, 0x08, 6, []byte{0x64, 0x00, 0x01, 0x00, 0x01, 0x00})) // 10 Hz
//p.Write(makeUBXCFG(0x06, 0x08, 6, []byte{0xc8, 0x00, 0x01, 0x00, 0x01, 0x00})) // 5 Hz p.Write(makeUBXCFG(0x06, 0x08, 6, []byte{0x06, 0x00, 0xF4, 0x01, 0x01, 0x00})) // 2 Hz
// Set navigation settings. // Set navigation settings.
nav := make([]byte, 36) nav := make([]byte, 36)
@ -285,7 +285,7 @@ func initGPSSerial() bool {
galileo := []byte{0x02, 0x04, 0x08, 0x00, 0x00, 0x00, 0x01, 0x01} // this disables Galileo galileo := []byte{0x02, 0x04, 0x08, 0x00, 0x00, 0x00, 0x01, 0x01} // this disables Galileo
if (globalStatus.GPS_detected_type == GPS_TYPE_UBX8) || (globalStatus.GPS_detected_type == GPS_TYPE_UART) { // assume that any GPS connected to serial GPIO is ublox8 (RY835/6AI) if (globalStatus.GPS_detected_type == GPS_TYPE_UBX8) || (globalStatus.GPS_detected_type == GPS_TYPE_UART) { // assume that any GPS connected to serial GPIO is ublox8 (RY835/6AI)
//log.Printf("UBX8 device detected on USB, or GPS serial connection in use. Attempting GLONASS configuration.\n") //log.Printf("UBX8 device detected on USB, or GPS serial connection in use. Attempting GLONASS and Galelio configuration.\n")
glonass = []byte{0x06, 0x08, 0x0E, 0x00, 0x01, 0x00, 0x01, 0x01} // this enables GLONASS with 8-14 tracking channels glonass = []byte{0x06, 0x08, 0x0E, 0x00, 0x01, 0x00, 0x01, 0x01} // this enables GLONASS with 8-14 tracking channels
galileo = []byte{0x02, 0x04, 0x08, 0x00, 0x01, 0x00, 0x01, 0x01} // this enables Galileo with 4-8 tracking channels galileo = []byte{0x02, 0x04, 0x08, 0x00, 0x01, 0x00, 0x01, 0x01} // this enables Galileo with 4-8 tracking channels
} }
@ -1101,7 +1101,10 @@ func processNMEALine(l string) (sentenceUsed bool) {
svType = SAT_TYPE_SBAS svType = SAT_TYPE_SBAS
svStr = fmt.Sprintf("S%d", sv) svStr = fmt.Sprintf("S%d", sv)
sv -= 87 // subtract 87 to convert to NMEA from PRN. sv -= 87 // subtract 87 to convert to NMEA from PRN.
} else { //TODO: Galileo } else if sv > 210 {
svType = SAT_TYPE_GALILEO
svStr = fmt.Sprintf("E%d", sv-210)
} else { //TODO: Galileo
svType = SAT_TYPE_UNKNOWN svType = SAT_TYPE_UNKNOWN
svStr = fmt.Sprintf("U%d", sv) svStr = fmt.Sprintf("U%d", sv)
} }
@ -1569,9 +1572,9 @@ func processNMEALine(l string) (sentenceUsed bool) {
svType = SAT_TYPE_GLONASS svType = SAT_TYPE_GLONASS
svStr = fmt.Sprintf("R%d", sv-64) // subtract 64 to convert from NMEA to PRN. svStr = fmt.Sprintf("R%d", sv-64) // subtract 64 to convert from NMEA to PRN.
svGLONASS = true svGLONASS = true
} else if sv < 300 { // Galileo } else if sv < 210 { // Galileo
svType = SAT_TYPE_GALILEO svType = SAT_TYPE_GALILEO
svStr = fmt.Sprintf("E%d", sv-300) // subtract 300 to convert from NMEA to PRN svStr = fmt.Sprintf("E%d", sv-210) // subtract 300 to convert from NMEA to PRN
svGalileo = true svGalileo = true
} else { } else {
svType = SAT_TYPE_UNKNOWN svType = SAT_TYPE_UNKNOWN
@ -1607,7 +1610,7 @@ func processNMEALine(l string) (sentenceUsed bool) {
} }
if sat < 12 || tmpSituation.Satellites < 13 { // GSA only reports up to 12 satellites in solution, so we don't want to overwrite higher counts based on updateConstellation(). if sat < 12 || tmpSituation.Satellites < 13 { // GSA only reports up to 12 satellites in solution, so we don't want to overwrite higher counts based on updateConstellation().
tmpSituation.Satellites = uint16(sat) tmpSituation.Satellites = uint16(sat)
if (tmpSituation.Quality == 2) && !svSBAS && !svGLONASS { // add one to the satellite count if we have a SBAS solution, but the GSA message doesn't track a SBAS satellite if (tmpSituation.Quality == 2) && !svSBAS && !svGLONASS && !svGalileo { // add one to the satellite count if we have a SBAS solution, but the GSA message doesn't track a SBAS satellite
tmpSituation.Satellites++ tmpSituation.Satellites++
} }
} }
@ -1697,10 +1700,9 @@ func processNMEALine(l string) (sentenceUsed bool) {
} else if sv < 97 { // GLONASS } else if sv < 97 { // GLONASS
svType = SAT_TYPE_GLONASS svType = SAT_TYPE_GLONASS
svStr = fmt.Sprintf("R%d", sv-64) // subtract 64 to convert from NMEA to PRN. svStr = fmt.Sprintf("R%d", sv-64) // subtract 64 to convert from NMEA to PRN.
} else if sv < 300 { // Galileo } else if sv < 210 { // Galileo
svType = SAT_TYPE_GALILEO svType = SAT_TYPE_GALILEO
svStr = fmt.Sprintf("E%d", sv-300) // subtract 300 to convert from NMEA to PRN svStr = fmt.Sprintf("E%d", sv-210) // subtract 300 to convert from NMEA to PRN
svGalileo = true
} else { } else {
svType = SAT_TYPE_UNKNOWN svType = SAT_TYPE_UNKNOWN
svStr = fmt.Sprintf("U%d", sv) svStr = fmt.Sprintf("U%d", sv)