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Merge pull request #902 from a-f-G-U-C/ublox-filter-dop-fix 

implement fix2D and max DOP user settings
1.2-legacy
Sacha Weatherstone 2021-10-30 10:12:36 +11:00 zatwierdzone przez GitHub
rodzic 093e3e55b9 2ebed9cb6c
commit 41bed5c14d
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ID klucza GPG: 4AEE18F83AFDEB23
5 zmienionych plików z 68 dodań i 36 usunięć
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18
src/gps/UBloxGPS.cpp
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@ -225,6 +225,10 @@ bool UBloxGPS::lookForLocation()
int32_t tmp_lon = ublox.getLongitude(0);
int32_t tmp_alt_msl = ublox.getAltitudeMSL(0);
int32_t tmp_alt_hae = ublox.getAltitude(0);
int32_t max_dop = PDOP_INVALID;
if (radioConfig.preferences.gps_max_dop)
max_dop = radioConfig.preferences.gps_max_dop * 100; // scaling
// Note: heading is only currently implmented in the ublox for the 8m chipset - therefore
// don't read it here - it will generate an ignored getPVT command on the 6ms
// heading = ublox.getHeading(0);
@ -248,16 +252,25 @@ bool UBloxGPS::lookForLocation()
// FIXME - NULL ISLAND is a real location on Earth!
foundLocation = (tmp_lat != 0) && (tmp_lon != 0) &&
(tmp_lat <= 900000000) && (tmp_lat >= -900000000) &&
(tmp_dop < PDOP_INVALID);
(tmp_dop < max_dop);
// only if entire dataset is valid, update globals from temp vars
if (foundLocation) {
p.location_source = Position_LocSource_LOCSRC_GPS_INTERNAL;
p.longitude_i = tmp_lon;
p.latitude_i = tmp_lat;
if (fixType > 2) {
// if fix is 2d, ignore altitude data
p.altitude = tmp_alt_msl / 1000;
p.altitude_hae = tmp_alt_hae / 1000;
p.alt_geoid_sep = (tmp_alt_hae - tmp_alt_msl) / 1000;
} else {
#ifdef GPS_EXTRAVERBOSE
DEBUG_MSG("no altitude data (fixType=%d)\n", fixType);
#endif
// clean up old values in case it's a 3d-2d fix transition
p.altitude = p.altitude_hae = p.alt_geoid_sep = 0;
}
p.pos_timestamp = tmp_ts;
p.PDOP = tmp_dop;
p.fix_type = fixType;
@ -277,6 +290,9 @@ bool UBloxGPS::lookForLocation()
bool UBloxGPS::hasLock()
{
if (radioConfig.preferences.gps_accept_2d)
return (fixType >= 2 && fixType <= 4);
else
return (fixType >= 3 && fixType <= 4);
}

2
src/mesh/generated/admin.pb.h
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@ -79,7 +79,7 @@ extern const pb_msgdesc_t AdminMessage_msg;
#define AdminMessage_fields &AdminMessage_msg
/* Maximum encoded size of messages (where known) */
#define AdminMessage_size 407
#define AdminMessage_size 417
#ifdef __cplusplus
} /* extern "C" */

2
src/mesh/generated/deviceonly.pb.h
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@ -125,7 +125,7 @@ extern const pb_msgdesc_t ChannelFile_msg;
/* Maximum encoded size of messages (where known) */
#define LegacyRadioConfig_size 4
#define LegacyRadioConfig_LegacyPreferences_size 2
#define DeviceState_size 10054
#define DeviceState_size 9000
#define ChannelFile_size 832
#ifdef __cplusplus

56
src/mesh/generated/mesh.pb.h
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@ -33,6 +33,24 @@ typedef enum _HardwareModel {
HardwareModel_DIY_V1 = 39
} HardwareModel;
typedef enum _Team {
Team_CLEAR = 0,
Team_CYAN = 1,
Team_WHITE = 2,
Team_YELLOW = 3,
Team_ORANGE = 4,
Team_MAGENTA = 5,
Team_RED = 6,
Team_MAROON = 7,
Team_PURPLE = 8,
Team_DARK_BLUE = 9,
Team_BLUE = 10,
Team_TEAL = 11,
Team_GREEN = 12,
Team_DARK_GREEN = 13,
Team_BROWN = 14
} Team;
typedef enum _Constants {
Constants_Unused = 0,
Constants_DATA_PAYLOAD_LEN = 237
@ -158,11 +176,6 @@ typedef struct _Position {
uint32_t fix_type;
uint32_t sats_in_view;
uint32_t sensor_id;
uint32_t heading;
int32_t roll;
int32_t pitch;
uint32_t air_speed;
uint32_t ground_distance_cm;
uint32_t pos_next_update;
uint32_t pos_seq_number;
} Position;
@ -184,6 +197,7 @@ typedef struct _User {
pb_byte_t macaddr[6];
HardwareModel hw_model;
bool is_licensed;
Team team;
} User;
typedef PB_BYTES_ARRAY_T(256) MeshPacket_encrypted_t;
@ -253,6 +267,10 @@ typedef struct _ToRadio {
#define _HardwareModel_MAX HardwareModel_DIY_V1
#define _HardwareModel_ARRAYSIZE ((HardwareModel)(HardwareModel_DIY_V1+1))
#define _Team_MIN Team_CLEAR
#define _Team_MAX Team_BROWN
#define _Team_ARRAYSIZE ((Team)(Team_BROWN+1))
#define _Constants_MIN Constants_Unused
#define _Constants_MAX Constants_DATA_PAYLOAD_LEN
#define _Constants_ARRAYSIZE ((Constants)(Constants_DATA_PAYLOAD_LEN+1))
@ -287,8 +305,8 @@ extern "C" {
#endif
/* Initializer values for message structs */
#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}
#define User_init_default {"", "", "", {0}, _HardwareModel_MIN, 0}
#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}
#define User_init_default {"", "", "", {0}, _HardwareModel_MIN, 0, _Team_MIN}
#define RouteDiscovery_init_default {0, {0, 0, 0, 0, 0, 0, 0, 0}}
#define Routing_init_default {0, {RouteDiscovery_init_default}}
#define Data_init_default {_PortNum_MIN, {0, {0}}, 0, 0, 0, 0}
@ -299,8 +317,8 @@ extern "C" {
#define FromRadio_init_default {0, 0, {MyNodeInfo_init_default}}
#define ToRadio_init_default {0, {MeshPacket_init_default}}
#define ToRadio_PeerInfo_init_default {0, 0}
#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}
#define User_init_zero {"", "", "", {0}, _HardwareModel_MIN, 0}
#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}
#define User_init_zero {"", "", "", {0}, _HardwareModel_MIN, 0, _Team_MIN}
#define RouteDiscovery_init_zero {0, {0, 0, 0, 0, 0, 0, 0, 0}}
#define Routing_init_zero {0, {RouteDiscovery_init_zero}}
#define Data_init_zero {_PortNum_MIN, {0, {0}}, 0, 0, 0, 0}
@ -357,11 +375,6 @@ extern "C" {
#define Position_fix_type_tag 23
#define Position_sats_in_view_tag 24
#define Position_sensor_id_tag 25
#define Position_heading_tag 30
#define Position_roll_tag 31
#define Position_pitch_tag 32
#define Position_air_speed_tag 33
#define Position_ground_distance_cm_tag 34
#define Position_pos_next_update_tag 40
#define Position_pos_seq_number_tag 41
#define RouteDiscovery_route_tag 2
@ -373,6 +386,7 @@ extern "C" {
#define User_macaddr_tag 4
#define User_hw_model_tag 6
#define User_is_licensed_tag 7
#define User_team_tag 8
#define MeshPacket_from_tag 1
#define MeshPacket_to_tag 2
#define MeshPacket_channel_tag 3
@ -428,11 +442,6 @@ X(a, STATIC, SINGULAR, UINT32, fix_quality, 22) \
X(a, STATIC, SINGULAR, UINT32, fix_type, 23) \
X(a, STATIC, SINGULAR, UINT32, sats_in_view, 24) \
X(a, STATIC, SINGULAR, UINT32, sensor_id, 25) \
X(a, STATIC, SINGULAR, UINT32, heading, 30) \
X(a, STATIC, SINGULAR, SINT32, roll, 31) \
X(a, STATIC, SINGULAR, SINT32, pitch, 32) \
X(a, STATIC, SINGULAR, UINT32, air_speed, 33) \
X(a, STATIC, SINGULAR, UINT32, ground_distance_cm, 34) \
X(a, STATIC, SINGULAR, UINT32, pos_next_update, 40) \
X(a, STATIC, SINGULAR, UINT32, pos_seq_number, 41)
#define Position_CALLBACK NULL
@ -444,7 +453,8 @@ X(a, STATIC, SINGULAR, STRING, long_name, 2) \
X(a, STATIC, SINGULAR, STRING, short_name, 3) \
X(a, STATIC, SINGULAR, FIXED_LENGTH_BYTES, macaddr, 4) \
X(a, STATIC, SINGULAR, UENUM, hw_model, 6) \
X(a, STATIC, SINGULAR, BOOL, is_licensed, 7)
X(a, STATIC, SINGULAR, BOOL, is_licensed, 7) \
X(a, STATIC, SINGULAR, UENUM, team, 8)
#define User_CALLBACK NULL
#define User_DEFAULT NULL
@ -584,13 +594,13 @@ extern const pb_msgdesc_t ToRadio_PeerInfo_msg;
#define ToRadio_PeerInfo_fields &ToRadio_PeerInfo_msg
/* Maximum encoded size of messages (where known) */
#define Position_size 188
#define User_size 76
#define Position_size 153
#define User_size 78
#define RouteDiscovery_size 40
#define Routing_size 42
#define Data_size 260
#define MeshPacket_size 309
#define NodeInfo_size 285
#define NodeInfo_size 252
#define MyNodeInfo_size 101
#define LogRecord_size 81
#define FromRadio_size 318

18
src/mesh/generated/radioconfig.pb.h
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@ -113,6 +113,8 @@ typedef struct _RadioConfig_UserPreferences {
char mqtt_server[32];
bool mqtt_disabled;
GpsCoordinateFormat gps_format;
bool gps_accept_2d;
uint32_t gps_max_dop;
bool factory_reset;
bool debug_log_enabled;
pb_size_t ignore_incoming_count;
@ -177,8 +179,8 @@ typedef struct _RadioConfig {
#define _PositionFlags_ARRAYSIZE ((PositionFlags)(PositionFlags_POS_TIMESTAMP+1))
#define _RadioConfig_UserPreferences_EnvironmentalMeasurementSensorType_MIN RadioConfig_UserPreferences_EnvironmentalMeasurementSensorType_DHT11
#define _RadioConfig_UserPreferences_EnvironmentalMeasurementSensorType_MAX RadioConfig_UserPreferences_EnvironmentalMeasurementSensorType_DHT11
#define _RadioConfig_UserPreferences_EnvironmentalMeasurementSensorType_ARRAYSIZE ((RadioConfig_UserPreferences_EnvironmentalMeasurementSensorType)(RadioConfig_UserPreferences_EnvironmentalMeasurementSensorType_DHT11+1))
#define _RadioConfig_UserPreferences_EnvironmentalMeasurementSensorType_MAX RadioConfig_UserPreferences_EnvironmentalMeasurementSensorType_DS18B20
#define _RadioConfig_UserPreferences_EnvironmentalMeasurementSensorType_ARRAYSIZE ((RadioConfig_UserPreferences_EnvironmentalMeasurementSensorType)(RadioConfig_UserPreferences_EnvironmentalMeasurementSensorType_DS18B20+1))
#ifdef __cplusplus
@ -187,9 +189,9 @@ extern "C" {
/* Initializer values for message structs */
#define RadioConfig_init_default {false, RadioConfig_UserPreferences_init_default}
#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}
#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}
#define RadioConfig_init_zero {false, RadioConfig_UserPreferences_init_zero}
#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}
#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}
/* Field tags (for use in manual encoding/decoding) */
#define RadioConfig_UserPreferences_position_broadcast_secs_tag 1
@ -219,6 +221,8 @@ extern "C" {
#define RadioConfig_UserPreferences_mqtt_server_tag 42
#define RadioConfig_UserPreferences_mqtt_disabled_tag 43
#define RadioConfig_UserPreferences_gps_format_tag 44
#define RadioConfig_UserPreferences_gps_accept_2d_tag 45
#define RadioConfig_UserPreferences_gps_max_dop_tag 46
#define RadioConfig_UserPreferences_factory_reset_tag 100
#define RadioConfig_UserPreferences_debug_log_enabled_tag 101
#define RadioConfig_UserPreferences_ignore_incoming_tag 103
@ -285,6 +289,8 @@ X(a, STATIC, SINGULAR, FLOAT, frequency_offset, 41) \
X(a, STATIC, SINGULAR, STRING, mqtt_server, 42) \
X(a, STATIC, SINGULAR, BOOL, mqtt_disabled, 43) \
X(a, STATIC, SINGULAR, UENUM, gps_format, 44) \
X(a, STATIC, SINGULAR, BOOL, gps_accept_2d, 45) \
X(a, STATIC, SINGULAR, UINT32, gps_max_dop, 46) \
X(a, STATIC, SINGULAR, BOOL, factory_reset, 100) \
X(a, STATIC, SINGULAR, BOOL, debug_log_enabled, 101) \
X(a, STATIC, REPEATED, UINT32, ignore_incoming, 103) \
@ -325,8 +331,8 @@ extern const pb_msgdesc_t RadioConfig_UserPreferences_msg;
#define RadioConfig_UserPreferences_fields &RadioConfig_UserPreferences_msg
/* Maximum encoded size of messages (where known) */
#define RadioConfig_size 404
#define RadioConfig_UserPreferences_size 401
#define RadioConfig_size 414
#define RadioConfig_UserPreferences_size 411
#ifdef __cplusplus
} /* extern "C" */