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avoid mixing pacc and hacc

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This commit is contained in:
Gautier Hattenberger
2022-09-23 12:59:06 +02:00
committed by Freek van Tienen
parent 9a27eea7a7
commit a1078c43f4
2 changed files with 9 additions and 3 deletions
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sw/airborne/modules/gps/gps_ubx.c
+8 -3
View File
@@ -102,6 +102,7 @@ void gps_ubx_init(void)
gps_ubx.msg_available = false;
gps_ubx.error_cnt = 0;
gps_ubx.error_last = GPS_UBX_ERR_NONE;
gps_ubx.pacc_valid = false;
gps_ubx.state.comp_id = GPS_UBX_ID;
}
@@ -195,8 +196,10 @@ static void gps_ubx_parse_nav_pvt(void)
gps_ubx.state.vacc = UBX_NAV_PVT_vAcc(gps_ubx.msg_buf) / 10;
gps_ubx.state.sacc = UBX_NAV_PVT_sAcc(gps_ubx.msg_buf) / 10;
//FIXME stupid workaround for PVT only
gps_ubx.state.pacc = gps_ubx.state.hacc; // report horizontal accuracy
if (!gps_ubx.pacc_valid) {
// workaround for PVT only
gps_ubx.state.pacc = gps_ubx.state.hacc; // report horizontal accuracy
}
}
static void gps_ubx_parse_nav_sol(void)
@@ -228,6 +231,7 @@ static void gps_ubx_parse_nav_sol(void)
gps_ubx.state.pacc = UBX_NAV_SOL_pAcc(gps_ubx.msg_buf);
gps_ubx.state.sacc = UBX_NAV_SOL_sAcc(gps_ubx.msg_buf);
gps_ubx.state.pdop = UBX_NAV_SOL_pDOP(gps_ubx.msg_buf);
gps_ubx.pacc_valid = true;
}
static void gps_ubx_parse_nav_posecef(void)
@@ -242,6 +246,7 @@ static void gps_ubx_parse_nav_posecef(void)
// Copy accuracy information
gps_ubx.state.pacc = UBX_NAV_POSECEF_pAcc(gps_ubx.msg_buf);
gps_ubx.pacc_valid = true;
}
static void gps_ubx_parse_nav_posllh(void)
@@ -379,6 +384,7 @@ static void gps_ubx_parse_nav_relposned(void)
uint8_t gnssFixOK = RTCMgetbitu(&flags, 7, 1);
/* Only save the latest valid relative position */
if(relPosValid) {
if (diffSoln && carrSoln == 2) {
gps_ubx.state.fix = 5; // rtk
} else if(diffSoln && carrSoln == 1) {
@@ -388,7 +394,6 @@ static void gps_ubx_parse_nav_relposned(void)
} else{
gps_ubx.state.fix = 0;
}
if(relPosValid) {
gps_relposned.iTOW = UBX_NAV_RELPOSNED_iTOW(gps_ubx.msg_buf);
gps_relposned.refStationId = UBX_NAV_RELPOSNED_refStationId(gps_ubx.msg_buf);
sw/airborne/modules/gps/gps_ubx.h
+1
View File
@@ -68,6 +68,7 @@ struct GpsUbx {
uint8_t status_flags;
uint8_t sol_flags;
bool pacc_valid;
struct GpsState state;
};