kopia lustrzana https://github.com/cyoung/stratux
Report GPS position rate (Hz). Tweak gpsattitude filter. Cleanup.
Keith Tschohl
rodzic
c7ad7728d6
commit
c84abec96f
21
main/gps.go
21
main/gps.go
|
|
@ -78,6 +78,7 @@ type SituationData struct {
|
|||
LastGPSTimeTime time.Time // stratuxClock time since last GPS time received.
|
||||
LastValidNMEAMessageTime time.Time // time valid NMEA message last seen
|
||||
LastValidNMEAMessage string // last NMEA message processed.
|
||||
PositionSampleRate float64 // calculated sample rate of GPS positions
|
||||
|
||||
// From BMP180 pressure sensor.
|
||||
Temp float64
|
||||
|
|
@ -252,7 +253,7 @@ func initGPSSerial() bool {
|
|||
} else {
|
||||
// Byte order for UBX configuration is little endian.
|
||||
|
||||
// Set 10 Hz update to make gpsattitude more responsive.
|
||||
// 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{0xc8, 0x00, 0x01, 0x00, 0x01, 0x00})) // 5 Hz
|
||||
|
||||
|
|
@ -282,7 +283,7 @@ func initGPSSerial() bool {
|
|||
qzss := []byte{0x05, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x01}
|
||||
glonass := []byte{0x06, 0x04, 0x0E, 0x00, 0x00, 0x00, 0x01, 0x01} // this disables GLONASS
|
||||
|
||||
if (device == "/dev/ublox8") || (device == "/dev/ttyAMA0") { // 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")
|
||||
glonass = []byte{0x06, 0x08, 0x0E, 0x00, 0x01, 0x00, 0x01, 0x01} // this enables GLONASS with 8-14 tracking channels
|
||||
}
|
||||
|
|
@ -303,9 +304,7 @@ func initGPSSerial() bool {
|
|||
p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x00, 0x00, 0x05, 0x00, 0x05, 0x00, 0x01})) // GGA enabled every 5th message
|
||||
p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01})) // GLL disabled
|
||||
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 disabled every 5th position (used for testing only)
|
||||
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 (used for testing only)
|
||||
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
|
||||
p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x06, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // GRS
|
||||
|
|
@ -316,9 +315,9 @@ 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, 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
|
||||
p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF1, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00})) // Ublox,0
|
||||
p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF1, 0x03, 0x00, 0x05, 0x00, 0x05, 0x00, 0x00})) // Ublox,3
|
||||
p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF1, 0x04, 0x00, 0x0A, 0x00, 0x0A, 0x00, 0x00})) // Ublox,4
|
||||
|
||||
// Reconfigure serial port.
|
||||
cfg := make([]byte, 20)
|
||||
|
|
@ -531,7 +530,7 @@ func calcGPSAttitude() bool {
|
|||
var lengthHeading, lengthSpeed int
|
||||
|
||||
center := float64(myGPSPerfStats[index].nmeaTime) // current time for calculating regression weights
|
||||
halfwidth := float64(1.4) // width of regression evaluation window. Default of 1.4 seconds for 5 Hz sampling; can increase to 3.5 sec @ 1 Hz
|
||||
halfwidth := float64(1.4) // width of regression evaluation window. Default of 1.4 seconds for 5 Hz sampling; will increase up to 3.5 sec @ 1 Hz
|
||||
|
||||
// frequency detection
|
||||
tempSpeedTime = make([]float64, 0)
|
||||
|
|
@ -547,12 +546,14 @@ func calcGPSAttitude() bool {
|
|||
if globalSettings.DEBUG {
|
||||
log.Printf("GPS attitude: Average delta time is %.2f s (%.1f Hz)\n", dt_avg, 1/dt_avg)
|
||||
}
|
||||
halfwidth = 12 * dt_avg
|
||||
halfwidth = 14 * dt_avg
|
||||
mySituation.PositionSampleRate = 1 / dt_avg
|
||||
} else {
|
||||
if globalSettings.DEBUG {
|
||||
log.Printf("GPS attitude: Couldn't determine sample rate\n")
|
||||
}
|
||||
halfwidth = 3.0
|
||||
halfwidth = 3.5
|
||||
mySituation.PositionSampleRate = 0
|
||||
}
|
||||
|
||||
if halfwidth > 3.5 {
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue