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Set heading from GPS with sustained >=10kts. 

Apply same to new source.
pull/182/head^2
Christopher Young 2015-12-29 17:14:03 -05:00
rodzic 32383c12c2
commit dab97a2328
1 zmienionych plików z 13 dodań i 18 usunięć
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31
main/ry835ai.go
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@ -314,6 +314,17 @@ func validateNMEAChecksum(s string) (string, bool) {
return s_out, true
}
// Only count this heading if a "sustained" >10kts is obtained. This filters out a lot of heading
// changes while on the ground and "movement" is really only changes in GPS fix as it settles down.
//TODO: Some more robust checking above current and last speed.
func setTrueCourse(groundSpeed, trueCourse uint16) {
if myMPU6050 != nil && globalStatus.RY835AI_connected && globalSettings.AHRS_Enabled {
if mySituation.GroundSpeed >= 10 && groundSpeed >= 10 {
myMPU6050.ResetHeading(float64(trueCourse))
}
}
}
func processNMEALine(l string) bool {
replayLog(l, MSGCLASS_GPS)
l_valid, validNMEAcs := validateNMEAChecksum(l)
@ -455,15 +466,7 @@ func processNMEALine(l string) bool {
mySituation.LastGroundTrackTime = time.Time{}
}
//FIXME: Experimental. Set heading to true heading on the MPU6050 reader.
if myMPU6050 != nil && globalStatus.RY835AI_connected && globalSettings.AHRS_Enabled {
// Only count this heading if a "sustained" >10kts is obtained. This filters out a lot of heading
// changes while on the ground and "movement" is really only changes in GPS fix as it settles down.
//TODO: Some more robust checking above current and last speed.
if mySituation.GroundSpeed >= 10 && uint16(groundSpeed) >= 10 {
myMPU6050.ResetHeading(float64(trueCourse))
}
}
setTrueCourse(trueCourse, uint16(groundspeed))
mySituation.TrueCourse = uint16(trueCourse)
mySituation.GroundSpeed = uint16(groundspeed)
@ -575,15 +578,7 @@ func processNMEALine(l string) bool {
return false
}
//FIXME: Experimental. Set heading to true heading on the MPU6050 reader.
if myMPU6050 != nil && globalStatus.RY835AI_connected && globalSettings.AHRS_Enabled {
// Only count this heading if a "sustained" >10kts is obtained. This filters out a lot of heading
// changes while on the ground and "movement" is really only changes in GPS fix as it settles down.
//TODO: Some more robust checking above current and last speed.
if mySituation.GroundSpeed >= 10 && uint16(groundSpeed) >= 10 {
myMPU6050.ResetHeading(float64(trueCourse))
}
}
setTrueCourse(trueCourse, uint16(groundSpeed))
mySituation.TrueCourse = uint16(trueCourse)
mySituation.GroundSpeed = uint16(groundSpeed)