kopia lustrzana https://github.com/cyoung/stratux
Porównaj commity
3 Commity
0be072c51f
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845a8e00b9
| Autor | SHA1 | Data |
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Adrian Batzill
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845a8e00b9 | |
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Adrian Batzill
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4ec7b22279 | |
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Adrian Batzill
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50ad712782 |
92
main/gps.go
92
main/gps.go
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@ -90,6 +90,7 @@ type SituationData struct {
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GPSLastGPSTimeStratuxTime time.Time // stratuxClock time since last GPS time received.
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GPSLastValidNMEAMessageTime time.Time // time valid NMEA message last seen
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GPSLastValidNMEAMessage string // last NMEA message processed.
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GPSLastAccuracyTime time.Time // time of last GNGST
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GPSPositionSampleRate float64 // calculated sample rate of GPS positions
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// From pressure sensor.
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@ -583,7 +584,7 @@ func writeUbloxGenericCommands(navrate uint16, p *serial.Port) {
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x04, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00})) // RMC - Recommended Minimum data
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x05, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00})) // VGT - Course over ground and Ground speed
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x06, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // GRS - GNSS Range Residuals
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // GST - GNSS Pseudo Range Error Statistics
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x07, 0x00, 0x05, 0x00, 0x05, 0x00, 0x00})) // GST - GNSS Pseudo Range Error Statistics
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // ZDA - Time and Date<
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x09, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // GBS - GNSS Satellite Fault Detection
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p.Write(makeUBXCFG(0x06, 0x01, 8, []byte{0xF0, 0x0A, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})) // DTM - Datum Reference
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@ -1541,36 +1542,41 @@ func processNMEALineLow(l string, fakeGpsTimeToCurr bool) (sentenceUsed bool) {
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mySituation.muSatellite.Unlock()
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// END OF PROTECTED BLOCK
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// field 16: HDOP
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// Accuracy estimate
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hdop, err1 := strconv.ParseFloat(x[16], 32)
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if err1 != nil {
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return false
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}
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if tmpSituation.GPSFixQuality == 2 { // Rough 95% confidence estimate for SBAS solution
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if globalStatus.GPS_detected_type == GPS_TYPE_UBX9 || globalStatus.GPS_detected_type == GPS_TYPE_UBX10 {
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tmpSituation.GPSHorizontalAccuracy = float32(hdop * 3.0) // ublox 9
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} else {
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tmpSituation.GPSHorizontalAccuracy = float32(hdop * 4.0) // ublox 6/7/8
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// Prefer accuracy from G?GST. Only if not received, estimate from hdop/vdop
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if stratuxClock.Since(tmpSituation.GPSLastAccuracyTime) > 10 * time.Second {
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// field 16: HDOP
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// Accuracy estimate
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hdop, err1 := strconv.ParseFloat(x[16], 32)
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if err1 != nil {
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return false
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}
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} else { // Rough 95% confidence estimate non-SBAS solution
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if globalStatus.GPS_detected_type == GPS_TYPE_UBX9 || globalStatus.GPS_detected_type == GPS_TYPE_UBX10 {
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tmpSituation.GPSHorizontalAccuracy = float32(hdop * 4.0) // ublox 9
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} else {
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tmpSituation.GPSHorizontalAccuracy = float32(hdop * 5.0) // ublox 6/7/8
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if tmpSituation.GPSFixQuality == 2 { // Rough 95% confidence estimate for SBAS solution
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if globalStatus.GPS_detected_type == GPS_TYPE_UBX9 || globalStatus.GPS_detected_type == GPS_TYPE_UBX10 {
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tmpSituation.GPSHorizontalAccuracy = float32(hdop * 3.0) // ublox 9
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} else {
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tmpSituation.GPSHorizontalAccuracy = float32(hdop * 4.0) // ublox 6/7/8
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}
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} else { // Rough 95% confidence estimate non-SBAS solution
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if globalStatus.GPS_detected_type == GPS_TYPE_UBX9 || globalStatus.GPS_detected_type == GPS_TYPE_UBX10 {
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tmpSituation.GPSHorizontalAccuracy = float32(hdop * 4.0) // ublox 9
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} else {
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tmpSituation.GPSHorizontalAccuracy = float32(hdop * 5.0) // ublox 6/7/8
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}
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}
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}
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// NACp estimate.
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tmpSituation.GPSNACp = calculateNACp(tmpSituation.GPSHorizontalAccuracy)
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// NACp estimate.
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tmpSituation.GPSNACp = calculateNACp(tmpSituation.GPSHorizontalAccuracy)
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// field 17: VDOP
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// accuracy estimate
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vdop, err1 := strconv.ParseFloat(x[17], 32)
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if err1 != nil {
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return false
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// field 17: VDOP
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// accuracy estimate
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vdop, err1 := strconv.ParseFloat(x[17], 32)
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if err1 != nil {
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return false
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}
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tmpSituation.GPSVerticalAccuracy = float32(vdop * 5) // rough estimate for 95% confidence
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//fmt.Println("hdop hacc: ", tmpSituation.GPSHorizontalAccuracy, ", vacc: ", tmpSituation.GPSVerticalAccuracy)
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}
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tmpSituation.GPSVerticalAccuracy = float32(vdop * 5) // rough estimate for 95% confidence
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// We've made it this far, so that means we've processed "everything" and can now make the change to mySituation.
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mySituation = tmpSituation
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@ -1578,6 +1584,40 @@ func processNMEALineLow(l string, fakeGpsTimeToCurr bool) (sentenceUsed bool) {
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}
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if x[0] == "GNGST" || x[0] == "GPGST" {
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if len(x) < 9 {
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return false
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}
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// $GNGST,205246.00,1.19,0.02,0.01,-2.4501,0.02,0.01,0.03*5B
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// Care: GNGST uses 1-sigma (68%) deviation. We use 2-sigma (~95%)
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stdDevLat, err := strconv.ParseFloat(x[6], 32)
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if err != nil {
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return false
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}
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stdDevLon, err := strconv.ParseFloat(x[7], 32)
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if err != nil {
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return false
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}
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stdDevAlt, err := strconv.ParseFloat(x[8], 32)
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if err != nil {
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return false
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}
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hacc := 2 * math.Sqrt(stdDevLat * stdDevLat + stdDevLon * stdDevLon)
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vacc := 2 * stdDevAlt
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//fmt.Println("gst hacc: ", hacc, ", vacc: ", vacc)
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tmpSituation := mySituation
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tmpSituation.GPSLastAccuracyTime = stratuxClock.Time
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tmpSituation.GPSHorizontalAccuracy = float32(hacc)
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tmpSituation.GPSVerticalAccuracy = float32(vacc)
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tmpSituation.GPSNACp = calculateNACp(tmpSituation.GPSHorizontalAccuracy)
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mySituation = tmpSituation
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return true
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}
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if (x[0] == "GPGSV") || (x[0] == "GLGSV") || (x[0] == "GAGSV") || (x[0] == "GBGSV") { // GPS + SBAS or GLONASS or Galileo or Beidou satellites in view message.
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if len(x) < 4 {
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return false
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@ -113,11 +113,15 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
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$scope.Quality = situation.GPSFixQuality;
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$scope.GPS_PositionSampleRate = situation.GPSPositionSampleRate.toFixed(1);
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var solutionText = "No Fix";
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if (situation.GPSFixQuality === 2) {
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solutionText = "3D GPS + SBAS";
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var solutionText = "Unknown";
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if (situation.GPSFixQuality === 0) {
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solutionText = "No Fix"
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} else if (situation.GPSFixQuality === 1) {
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solutionText = "3D GPS"
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solutionText = "3D GPS";
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} else if (situation.GPSFixQuality === 2) {
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solutionText = "3D GPS + SBAS";
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} else if (situation.GPSFixQuality === 6) {
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solutionText = "Dead Reckoning";
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}
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$scope.SolutionText = solutionText;
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