sforkowany z mirror/meshtastic-firmware
Merge branch 'master' into feature/environmental-ds18b20-sensor-support
commit
90d95d8e98
|
@ -19,28 +19,39 @@ class GPSStatus : public Status
|
|||
|
||||
bool hasLock = false; // default to false, until we complete our first read
|
||||
bool isConnected = false; // Do we have a GPS we are talking to
|
||||
int32_t latitude = 0, longitude = 0; // as an int mult by 1e-7 to get value as double
|
||||
int32_t altitude = 0;
|
||||
uint32_t dop = 0; // Diminution of position; PDOP where possible (UBlox), HDOP otherwise (TinyGPS) in 10^2 units (needs
|
||||
// scaling before use)
|
||||
uint32_t heading = 0;
|
||||
uint32_t numSatellites = 0;
|
||||
|
||||
Position p = Position_init_default;
|
||||
|
||||
public:
|
||||
GPSStatus() { statusType = STATUS_TYPE_GPS; }
|
||||
|
||||
// proposed for deprecation
|
||||
GPSStatus(bool hasLock, bool isConnected, int32_t latitude, int32_t longitude, int32_t altitude, uint32_t dop,
|
||||
uint32_t heading, uint32_t numSatellites)
|
||||
: Status()
|
||||
{
|
||||
this->hasLock = hasLock;
|
||||
this->isConnected = isConnected;
|
||||
this->latitude = latitude;
|
||||
this->longitude = longitude;
|
||||
this->altitude = altitude;
|
||||
this->dop = dop;
|
||||
this->heading = heading;
|
||||
this->numSatellites = numSatellites;
|
||||
|
||||
this->p.latitude_i = latitude;
|
||||
this->p.longitude_i = longitude;
|
||||
this->p.altitude = altitude;
|
||||
this->p.PDOP = dop;
|
||||
this->p.ground_track = heading;
|
||||
this->p.sats_in_view = numSatellites;
|
||||
}
|
||||
|
||||
// preferred method
|
||||
GPSStatus(bool hasLock, bool isConnected, Position pos)
|
||||
: Status()
|
||||
{
|
||||
this->hasLock = hasLock;
|
||||
this->isConnected = isConnected;
|
||||
|
||||
// all-in-one struct copy
|
||||
this->p = pos;
|
||||
}
|
||||
|
||||
GPSStatus(const GPSStatus &);
|
||||
GPSStatus &operator=(const GPSStatus &);
|
||||
|
||||
|
@ -56,7 +67,7 @@ class GPSStatus : public Status
|
|||
NodeInfo *node = nodeDB.getNode(nodeDB.getNodeNum());
|
||||
return node->position.latitude_i;
|
||||
} else {
|
||||
return latitude;
|
||||
return p.latitude_i;
|
||||
}
|
||||
}
|
||||
|
||||
|
@ -66,7 +77,7 @@ class GPSStatus : public Status
|
|||
NodeInfo *node = nodeDB.getNode(nodeDB.getNodeNum());
|
||||
return node->position.longitude_i;
|
||||
} else {
|
||||
return longitude;
|
||||
return p.longitude_i;
|
||||
}
|
||||
}
|
||||
|
||||
|
@ -76,22 +87,27 @@ class GPSStatus : public Status
|
|||
NodeInfo *node = nodeDB.getNode(nodeDB.getNodeNum());
|
||||
return node->position.altitude;
|
||||
} else {
|
||||
return altitude;
|
||||
return p.altitude;
|
||||
}
|
||||
}
|
||||
|
||||
uint32_t getDOP() const { return p.PDOP; }
|
||||
|
||||
uint32_t getDOP() const { return dop; }
|
||||
uint32_t getHeading() const { return p.ground_track; }
|
||||
|
||||
uint32_t getHeading() const { return heading; }
|
||||
|
||||
uint32_t getNumSatellites() const { return numSatellites; }
|
||||
uint32_t getNumSatellites() const { return p.sats_in_view; }
|
||||
|
||||
bool matches(const GPSStatus *newStatus) const
|
||||
{
|
||||
return (newStatus->hasLock != hasLock || newStatus->isConnected != isConnected || newStatus->latitude != latitude ||
|
||||
newStatus->longitude != longitude || newStatus->altitude != altitude || newStatus->dop != dop ||
|
||||
newStatus->heading != heading || newStatus->numSatellites != numSatellites);
|
||||
return (newStatus->hasLock != hasLock ||
|
||||
newStatus->isConnected != isConnected ||
|
||||
newStatus->p.latitude_i != p.latitude_i ||
|
||||
newStatus->p.longitude_i != p.longitude_i ||
|
||||
newStatus->p.altitude != p.altitude ||
|
||||
newStatus->p.altitude_hae != p.altitude_hae ||
|
||||
newStatus->p.PDOP != p.PDOP ||
|
||||
newStatus->p.ground_track != p.ground_track ||
|
||||
newStatus->p.sats_in_view != p.sats_in_view);
|
||||
}
|
||||
int updateStatus(const GPSStatus *newStatus)
|
||||
{
|
||||
|
@ -102,17 +118,15 @@ class GPSStatus : public Status
|
|||
initialized = true;
|
||||
hasLock = newStatus->hasLock;
|
||||
isConnected = newStatus->isConnected;
|
||||
latitude = newStatus->latitude;
|
||||
longitude = newStatus->longitude;
|
||||
altitude = newStatus->altitude;
|
||||
dop = newStatus->dop;
|
||||
heading = newStatus->heading;
|
||||
numSatellites = newStatus->numSatellites;
|
||||
|
||||
p = newStatus->p;
|
||||
}
|
||||
if (isDirty) {
|
||||
if (hasLock)
|
||||
DEBUG_MSG("New GPS pos lat=%f, lon=%f, alt=%d, pdop=%f, heading=%f, sats=%d\n", latitude * 1e-7, longitude * 1e-7,
|
||||
altitude, dop * 1e-2, heading * 1e-5, numSatellites);
|
||||
DEBUG_MSG("New GPS pos lat=%f, lon=%f, alt=%d, pdop=%.2f, heading=%.2f, sats=%d\n",
|
||||
p.latitude_i * 1e-7, p.longitude_i * 1e-7,
|
||||
p.altitude, p.PDOP * 1e-2, p.ground_track * 1e-5,
|
||||
p.sats_in_view);
|
||||
else
|
||||
DEBUG_MSG("No GPS lock\n");
|
||||
onNewStatus.notifyObservers(this);
|
||||
|
|
|
@ -170,28 +170,30 @@ bool UBloxGPS::lookForLocation()
|
|||
{
|
||||
bool foundLocation = false;
|
||||
|
||||
// catch fixType changes here, instead of whileActive()
|
||||
if (ublox.moduleQueried.fixType) {
|
||||
fixType = ublox.getFixType();
|
||||
}
|
||||
|
||||
// check if GPS has an acceptable lock
|
||||
if (! hasLock()) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// check if a complete GPS solution set is available for reading
|
||||
// (some of these, like lat/lon are redundant and can be removed)
|
||||
if ( ! (ublox.moduleQueried.latitude &&
|
||||
if ( ! (ublox.moduleQueried.fixType &&
|
||||
ublox.moduleQueried.latitude &&
|
||||
ublox.moduleQueried.longitude &&
|
||||
ublox.moduleQueried.altitude &&
|
||||
ublox.moduleQueried.pDOP &&
|
||||
ublox.moduleQueried.gpsiTOW))
|
||||
ublox.moduleQueried.gpsDay))
|
||||
{
|
||||
// Not ready? No problem! We'll try again later.
|
||||
return false;
|
||||
}
|
||||
|
||||
fixType = ublox.getFixType();
|
||||
#ifdef UBLOX_EXTRAVERBOSE
|
||||
DEBUG_MSG("FixType=%d\n", fixType);
|
||||
#endif
|
||||
|
||||
// check if GPS has an acceptable lock
|
||||
if (! hasLock()) {
|
||||
ublox.flushPVT(); // reset ALL freshness flags
|
||||
return false;
|
||||
}
|
||||
|
||||
// read lat/lon/alt/dop data into temporary variables to avoid
|
||||
// overwriting global variables with potentially invalid data
|
||||
int32_t tmp_dop = ublox.getPDOP(0); // PDOP (an accuracy metric) is reported in 10^2 units so we have to scale down when we use it
|
||||
|
@ -241,9 +243,13 @@ bool UBloxGPS::lookForLocation()
|
|||
pos_timestamp = tmp_ts;
|
||||
dop = tmp_dop;
|
||||
} else {
|
||||
DEBUG_MSG("Invalid location discarded\n");
|
||||
// INVALID solution - should never happen
|
||||
DEBUG_MSG("Invalid location lat/lon/hae/dop %d/%d/%d/%d - discarded\n",
|
||||
tmp_lat, tmp_lon, tmp_alt_hae, tmp_dop);
|
||||
}
|
||||
|
||||
ublox.flushPVT(); // reset ALL freshness flags at the end
|
||||
|
||||
return foundLocation;
|
||||
}
|
||||
|
||||
|
|
|
@ -38,7 +38,45 @@ MeshPacket *PositionPlugin::allocReply()
|
|||
NodeInfo *node = service.refreshMyNodeInfo(); // should guarantee there is now a position
|
||||
assert(node->has_position);
|
||||
|
||||
Position p = node->position;
|
||||
// configuration of POSITION packet
|
||||
// consider making this a function argument?
|
||||
uint32_t pos_flags = radioConfig.preferences.position_flags;
|
||||
|
||||
// Populate a Position struct with ONLY the requested fields
|
||||
Position p = Position_init_default; // Start with an empty structure
|
||||
|
||||
// lat/lon are unconditionally included - IF AVAILABLE!
|
||||
p.latitude_i = node->position.latitude_i;
|
||||
p.longitude_i = node->position.longitude_i;
|
||||
p.time = node->position.time;
|
||||
|
||||
if (pos_flags & PositionFlags_POS_BATTERY)
|
||||
p.battery_level = node->position.battery_level;
|
||||
|
||||
if (pos_flags & PositionFlags_POS_ALTITUDE) {
|
||||
if (pos_flags & PositionFlags_POS_ALT_MSL)
|
||||
p.altitude = node->position.altitude;
|
||||
else
|
||||
p.altitude_hae = node->position.altitude_hae;
|
||||
|
||||
if (pos_flags & PositionFlags_POS_GEO_SEP)
|
||||
p.alt_geoid_sep = node->position.alt_geoid_sep;
|
||||
}
|
||||
|
||||
if (pos_flags & PositionFlags_POS_DOP) {
|
||||
if (pos_flags & PositionFlags_POS_HVDOP) {
|
||||
p.HDOP = node->position.HDOP;
|
||||
p.VDOP = node->position.VDOP;
|
||||
} else
|
||||
p.PDOP = node->position.PDOP;
|
||||
}
|
||||
|
||||
if (pos_flags & PositionFlags_POS_SATINVIEW)
|
||||
p.sats_in_view = node->position.sats_in_view;
|
||||
|
||||
if (pos_flags & PositionFlags_POS_TIMESTAMP)
|
||||
p.pos_timestamp = node->position.pos_timestamp;
|
||||
|
||||
|
||||
// Strip out any time information before sending packets to other nodes - to keep the wire size small (and because other
|
||||
// nodes shouldn't trust it anyways) Note: we allow a device with a local GPS to include the time, so that gpsless
|
||||
|
|
Ładowanie…
Reference in New Issue