sforkowany z mirror/meshtastic-firmware
Merge pull request #902 from a-f-G-U-C/ublox-filter-dop-fix
implement fix2D and max DOP user settings1.2-legacy
Sacha Weatherstone
GitHub
commit
41bed5c14d
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@ -225,6 +225,10 @@ bool UBloxGPS::lookForLocation()
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int32_t tmp_lon = ublox.getLongitude(0);
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int32_t tmp_alt_msl = ublox.getAltitudeMSL(0);
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int32_t tmp_alt_hae = ublox.getAltitude(0);
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int32_t max_dop = PDOP_INVALID;
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if (radioConfig.preferences.gps_max_dop)
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max_dop = radioConfig.preferences.gps_max_dop * 100; // scaling
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// Note: heading is only currently implmented in the ublox for the 8m chipset - therefore
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// don't read it here - it will generate an ignored getPVT command on the 6ms
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// heading = ublox.getHeading(0);
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@ -248,16 +252,25 @@ bool UBloxGPS::lookForLocation()
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// FIXME - NULL ISLAND is a real location on Earth!
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foundLocation = (tmp_lat != 0) && (tmp_lon != 0) &&
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(tmp_lat <= 900000000) && (tmp_lat >= -900000000) &&
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(tmp_dop < PDOP_INVALID);
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(tmp_dop < max_dop);
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// only if entire dataset is valid, update globals from temp vars
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if (foundLocation) {
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p.location_source = Position_LocSource_LOCSRC_GPS_INTERNAL;
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p.longitude_i = tmp_lon;
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p.latitude_i = tmp_lat;
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p.altitude = tmp_alt_msl / 1000;
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p.altitude_hae = tmp_alt_hae / 1000;
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p.alt_geoid_sep = (tmp_alt_hae - tmp_alt_msl) / 1000;
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if (fixType > 2) {
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// if fix is 2d, ignore altitude data
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p.altitude = tmp_alt_msl / 1000;
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p.altitude_hae = tmp_alt_hae / 1000;
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p.alt_geoid_sep = (tmp_alt_hae - tmp_alt_msl) / 1000;
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} else {
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#ifdef GPS_EXTRAVERBOSE
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DEBUG_MSG("no altitude data (fixType=%d)\n", fixType);
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#endif
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// clean up old values in case it's a 3d-2d fix transition
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p.altitude = p.altitude_hae = p.alt_geoid_sep = 0;
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}
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p.pos_timestamp = tmp_ts;
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p.PDOP = tmp_dop;
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p.fix_type = fixType;
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@ -277,7 +290,10 @@ bool UBloxGPS::lookForLocation()
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bool UBloxGPS::hasLock()
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{
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return (fixType >= 3 && fixType <= 4);
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if (radioConfig.preferences.gps_accept_2d)
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return (fixType >= 2 && fixType <= 4);
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else
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return (fixType >= 3 && fixType <= 4);
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}
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bool UBloxGPS::whileIdle()
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@ -79,7 +79,7 @@ extern const pb_msgdesc_t AdminMessage_msg;
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#define AdminMessage_fields &AdminMessage_msg
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/* Maximum encoded size of messages (where known) */
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#define AdminMessage_size 407
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#define AdminMessage_size 417
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#ifdef __cplusplus
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} /* extern "C" */
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@ -125,7 +125,7 @@ extern const pb_msgdesc_t ChannelFile_msg;
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/* Maximum encoded size of messages (where known) */
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#define LegacyRadioConfig_size 4
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#define LegacyRadioConfig_LegacyPreferences_size 2
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#define DeviceState_size 10054
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#define DeviceState_size 9000
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#define ChannelFile_size 832
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#ifdef __cplusplus
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@ -33,6 +33,24 @@ typedef enum _HardwareModel {
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HardwareModel_DIY_V1 = 39
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} HardwareModel;
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typedef enum _Team {
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Team_CLEAR = 0,
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Team_CYAN = 1,
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Team_WHITE = 2,
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Team_YELLOW = 3,
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Team_ORANGE = 4,
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Team_MAGENTA = 5,
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Team_RED = 6,
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Team_MAROON = 7,
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Team_PURPLE = 8,
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Team_DARK_BLUE = 9,
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Team_BLUE = 10,
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Team_TEAL = 11,
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Team_GREEN = 12,
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Team_DARK_GREEN = 13,
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Team_BROWN = 14
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} Team;
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typedef enum _Constants {
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Constants_Unused = 0,
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Constants_DATA_PAYLOAD_LEN = 237
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@ -158,11 +176,6 @@ typedef struct _Position {
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uint32_t fix_type;
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uint32_t sats_in_view;
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uint32_t sensor_id;
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uint32_t heading;
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int32_t roll;
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int32_t pitch;
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uint32_t air_speed;
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uint32_t ground_distance_cm;
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uint32_t pos_next_update;
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uint32_t pos_seq_number;
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} Position;
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@ -184,6 +197,7 @@ typedef struct _User {
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pb_byte_t macaddr[6];
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HardwareModel hw_model;
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bool is_licensed;
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Team team;
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} User;
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typedef PB_BYTES_ARRAY_T(256) MeshPacket_encrypted_t;
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@ -253,6 +267,10 @@ typedef struct _ToRadio {
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#define _HardwareModel_MAX HardwareModel_DIY_V1
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#define _HardwareModel_ARRAYSIZE ((HardwareModel)(HardwareModel_DIY_V1+1))
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#define _Team_MIN Team_CLEAR
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#define _Team_MAX Team_BROWN
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#define _Team_ARRAYSIZE ((Team)(Team_BROWN+1))
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#define _Constants_MIN Constants_Unused
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#define _Constants_MAX Constants_DATA_PAYLOAD_LEN
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#define _Constants_ARRAYSIZE ((Constants)(Constants_DATA_PAYLOAD_LEN+1))
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@ -287,8 +305,8 @@ extern "C" {
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#endif
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/* Initializer values for message structs */
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#define Position_init_default {0, 0, 0, 0, 0, _Position_LocSource_MIN, _Position_AltSource_MIN, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
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#define User_init_default {"", "", "", {0}, _HardwareModel_MIN, 0}
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#define Position_init_default {0, 0, 0, 0, 0, _Position_LocSource_MIN, _Position_AltSource_MIN, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
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#define User_init_default {"", "", "", {0}, _HardwareModel_MIN, 0, _Team_MIN}
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#define RouteDiscovery_init_default {0, {0, 0, 0, 0, 0, 0, 0, 0}}
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#define Routing_init_default {0, {RouteDiscovery_init_default}}
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#define Data_init_default {_PortNum_MIN, {0, {0}}, 0, 0, 0, 0}
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@ -299,8 +317,8 @@ extern "C" {
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#define FromRadio_init_default {0, 0, {MyNodeInfo_init_default}}
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#define ToRadio_init_default {0, {MeshPacket_init_default}}
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#define ToRadio_PeerInfo_init_default {0, 0}
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#define Position_init_zero {0, 0, 0, 0, 0, _Position_LocSource_MIN, _Position_AltSource_MIN, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
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#define User_init_zero {"", "", "", {0}, _HardwareModel_MIN, 0}
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#define Position_init_zero {0, 0, 0, 0, 0, _Position_LocSource_MIN, _Position_AltSource_MIN, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
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#define User_init_zero {"", "", "", {0}, _HardwareModel_MIN, 0, _Team_MIN}
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#define RouteDiscovery_init_zero {0, {0, 0, 0, 0, 0, 0, 0, 0}}
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#define Routing_init_zero {0, {RouteDiscovery_init_zero}}
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#define Data_init_zero {_PortNum_MIN, {0, {0}}, 0, 0, 0, 0}
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@ -357,11 +375,6 @@ extern "C" {
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#define Position_fix_type_tag 23
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#define Position_sats_in_view_tag 24
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#define Position_sensor_id_tag 25
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#define Position_heading_tag 30
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#define Position_roll_tag 31
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#define Position_pitch_tag 32
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#define Position_air_speed_tag 33
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#define Position_ground_distance_cm_tag 34
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#define Position_pos_next_update_tag 40
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#define Position_pos_seq_number_tag 41
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#define RouteDiscovery_route_tag 2
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@ -373,6 +386,7 @@ extern "C" {
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#define User_macaddr_tag 4
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#define User_hw_model_tag 6
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#define User_is_licensed_tag 7
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#define User_team_tag 8
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#define MeshPacket_from_tag 1
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#define MeshPacket_to_tag 2
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#define MeshPacket_channel_tag 3
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@ -428,11 +442,6 @@ X(a, STATIC, SINGULAR, UINT32, fix_quality, 22) \
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X(a, STATIC, SINGULAR, UINT32, fix_type, 23) \
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X(a, STATIC, SINGULAR, UINT32, sats_in_view, 24) \
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X(a, STATIC, SINGULAR, UINT32, sensor_id, 25) \
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X(a, STATIC, SINGULAR, UINT32, heading, 30) \
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X(a, STATIC, SINGULAR, SINT32, roll, 31) \
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X(a, STATIC, SINGULAR, SINT32, pitch, 32) \
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X(a, STATIC, SINGULAR, UINT32, air_speed, 33) \
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X(a, STATIC, SINGULAR, UINT32, ground_distance_cm, 34) \
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X(a, STATIC, SINGULAR, UINT32, pos_next_update, 40) \
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X(a, STATIC, SINGULAR, UINT32, pos_seq_number, 41)
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#define Position_CALLBACK NULL
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@ -444,7 +453,8 @@ X(a, STATIC, SINGULAR, STRING, long_name, 2) \
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X(a, STATIC, SINGULAR, STRING, short_name, 3) \
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X(a, STATIC, SINGULAR, FIXED_LENGTH_BYTES, macaddr, 4) \
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X(a, STATIC, SINGULAR, UENUM, hw_model, 6) \
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X(a, STATIC, SINGULAR, BOOL, is_licensed, 7)
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X(a, STATIC, SINGULAR, BOOL, is_licensed, 7) \
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X(a, STATIC, SINGULAR, UENUM, team, 8)
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#define User_CALLBACK NULL
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#define User_DEFAULT NULL
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@ -584,13 +594,13 @@ extern const pb_msgdesc_t ToRadio_PeerInfo_msg;
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#define ToRadio_PeerInfo_fields &ToRadio_PeerInfo_msg
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/* Maximum encoded size of messages (where known) */
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#define Position_size 188
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#define User_size 76
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#define Position_size 153
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#define User_size 78
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#define RouteDiscovery_size 40
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#define Routing_size 42
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#define Data_size 260
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#define MeshPacket_size 309
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#define NodeInfo_size 285
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#define NodeInfo_size 252
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#define MyNodeInfo_size 101
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#define LogRecord_size 81
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#define FromRadio_size 318
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@ -113,6 +113,8 @@ typedef struct _RadioConfig_UserPreferences {
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char mqtt_server[32];
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bool mqtt_disabled;
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GpsCoordinateFormat gps_format;
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bool gps_accept_2d;
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uint32_t gps_max_dop;
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bool factory_reset;
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bool debug_log_enabled;
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pb_size_t ignore_incoming_count;
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@ -177,8 +179,8 @@ typedef struct _RadioConfig {
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#define _PositionFlags_ARRAYSIZE ((PositionFlags)(PositionFlags_POS_TIMESTAMP+1))
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#define _RadioConfig_UserPreferences_EnvironmentalMeasurementSensorType_MIN RadioConfig_UserPreferences_EnvironmentalMeasurementSensorType_DHT11
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#define _RadioConfig_UserPreferences_EnvironmentalMeasurementSensorType_MAX RadioConfig_UserPreferences_EnvironmentalMeasurementSensorType_DHT11
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#define _RadioConfig_UserPreferences_EnvironmentalMeasurementSensorType_ARRAYSIZE ((RadioConfig_UserPreferences_EnvironmentalMeasurementSensorType)(RadioConfig_UserPreferences_EnvironmentalMeasurementSensorType_DHT11+1))
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#define _RadioConfig_UserPreferences_EnvironmentalMeasurementSensorType_MAX RadioConfig_UserPreferences_EnvironmentalMeasurementSensorType_DS18B20
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#define _RadioConfig_UserPreferences_EnvironmentalMeasurementSensorType_ARRAYSIZE ((RadioConfig_UserPreferences_EnvironmentalMeasurementSensorType)(RadioConfig_UserPreferences_EnvironmentalMeasurementSensorType_DS18B20+1))
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#ifdef __cplusplus
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@ -187,9 +189,9 @@ extern "C" {
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/* Initializer values for message structs */
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#define RadioConfig_init_default {false, RadioConfig_UserPreferences_init_default}
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#define RadioConfig_UserPreferences_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, "", "", 0, _RegionCode_MIN, _ChargeCurrent_MIN, _LocationSharing_MIN, _GpsOperation_MIN, 0, 0, 0, 0, 0, 0, 0, "", 0, _GpsCoordinateFormat_MIN, 0, 0, 0, {0, 0, 0}, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, _RadioConfig_UserPreferences_EnvironmentalMeasurementSensorType_MIN, 0, 0, 0}
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#define RadioConfig_UserPreferences_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, "", "", 0, _RegionCode_MIN, _ChargeCurrent_MIN, _LocationSharing_MIN, _GpsOperation_MIN, 0, 0, 0, 0, 0, 0, 0, "", 0, _GpsCoordinateFormat_MIN, 0, 0, 0, 0, 0, {0, 0, 0}, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, _RadioConfig_UserPreferences_EnvironmentalMeasurementSensorType_MIN, 0, 0, 0}
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#define RadioConfig_init_zero {false, RadioConfig_UserPreferences_init_zero}
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#define RadioConfig_UserPreferences_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, "", "", 0, _RegionCode_MIN, _ChargeCurrent_MIN, _LocationSharing_MIN, _GpsOperation_MIN, 0, 0, 0, 0, 0, 0, 0, "", 0, _GpsCoordinateFormat_MIN, 0, 0, 0, {0, 0, 0}, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, _RadioConfig_UserPreferences_EnvironmentalMeasurementSensorType_MIN, 0, 0, 0}
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#define RadioConfig_UserPreferences_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, "", "", 0, _RegionCode_MIN, _ChargeCurrent_MIN, _LocationSharing_MIN, _GpsOperation_MIN, 0, 0, 0, 0, 0, 0, 0, "", 0, _GpsCoordinateFormat_MIN, 0, 0, 0, 0, 0, {0, 0, 0}, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, _RadioConfig_UserPreferences_EnvironmentalMeasurementSensorType_MIN, 0, 0, 0}
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/* Field tags (for use in manual encoding/decoding) */
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#define RadioConfig_UserPreferences_position_broadcast_secs_tag 1
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@ -219,6 +221,8 @@ extern "C" {
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#define RadioConfig_UserPreferences_mqtt_server_tag 42
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#define RadioConfig_UserPreferences_mqtt_disabled_tag 43
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#define RadioConfig_UserPreferences_gps_format_tag 44
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#define RadioConfig_UserPreferences_gps_accept_2d_tag 45
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#define RadioConfig_UserPreferences_gps_max_dop_tag 46
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#define RadioConfig_UserPreferences_factory_reset_tag 100
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#define RadioConfig_UserPreferences_debug_log_enabled_tag 101
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#define RadioConfig_UserPreferences_ignore_incoming_tag 103
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@ -285,6 +289,8 @@ X(a, STATIC, SINGULAR, FLOAT, frequency_offset, 41) \
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X(a, STATIC, SINGULAR, STRING, mqtt_server, 42) \
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X(a, STATIC, SINGULAR, BOOL, mqtt_disabled, 43) \
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X(a, STATIC, SINGULAR, UENUM, gps_format, 44) \
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X(a, STATIC, SINGULAR, BOOL, gps_accept_2d, 45) \
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X(a, STATIC, SINGULAR, UINT32, gps_max_dop, 46) \
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X(a, STATIC, SINGULAR, BOOL, factory_reset, 100) \
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X(a, STATIC, SINGULAR, BOOL, debug_log_enabled, 101) \
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X(a, STATIC, REPEATED, UINT32, ignore_incoming, 103) \
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@ -325,8 +331,8 @@ extern const pb_msgdesc_t RadioConfig_UserPreferences_msg;
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#define RadioConfig_UserPreferences_fields &RadioConfig_UserPreferences_msg
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/* Maximum encoded size of messages (where known) */
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#define RadioConfig_size 404
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#define RadioConfig_UserPreferences_size 401
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#define RadioConfig_size 414
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#define RadioConfig_UserPreferences_size 411
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#ifdef __cplusplus
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} /* extern "C" */
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