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ublox is better but still not perfect

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This commit is contained in:
geeksville 2020-03-14 16:31:12 -07:00
parent acd5e5d29d
commit 3c1357b732
1 changed files with 29 additions and 15 deletions
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44
src/GPS.cpp
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@ -27,6 +27,7 @@ void GPS::setup()
#ifdef GPS_RX_PIN
_serial_gps.begin(GPS_BAUDRATE, SERIAL_8N1, GPS_RX_PIN, GPS_TX_PIN);
// _serial_gps.setRxBufferSize(1024); // the default is 256
// ublox.enableDebugging(Serial);
// note: the lib's implementation has the wrong docs for what the return val is
@ -42,20 +43,23 @@ void GPS::setup()
bool factoryReset = false;
bool ok;
if(factoryReset) {
if (factoryReset)
{
// It is useful to force back into factory defaults (9600baud, NEMA to test the behavior of boards that don't have GPS_TX connected)
ublox.factoryReset();
delay(2000);
isConnected = ublox.begin(_serial_gps);
DEBUG_MSG("Factory reset success=%d\n", isConnected);
if(isConnected) {
if (isConnected)
{
ublox.assumeAutoPVT(true, true); // Just parse NEMA for now
}
}
else {
ok = ublox.setUART1Output(COM_TYPE_UBX); // Use native API
else
{
ok = ublox.setUART1Output(COM_TYPE_UBX, 500); // Use native API
assert(ok);
ok = ublox.setNavigationFrequency(4); //Produce 4x/sec to keep the amount of time we stall in getPVT low
ok = ublox.setNavigationFrequency(1, 500); //Produce 4x/sec to keep the amount of time we stall in getPVT low
assert(ok);
//ok = ublox.setAutoPVT(false); // Not implemented on NEO-6M
//assert(ok);
@ -147,7 +151,12 @@ void GPS::doTask()
// DEBUG_MSG("sec %d\n", ublox.getSecond());
// DEBUG_MSG("lat %d\n", ublox.getLatitude());
if (!timeSetFromGPS && ublox.getT())
// If we don't have a fix (a quick check), don't try waiting for a solution)
uint8_t fixtype = ublox.getFixType();
DEBUG_MSG("fix type %d\n", fixtype);
// any fix that has time
if ((fixtype >= 2 && fixtype <= 5) && !timeSetFromGPS && ublox.getT())
{
struct timeval tv;
@ -173,8 +182,8 @@ void GPS::doTask()
perhapsSetRTC(&tv);
}
if (ublox.getP())
{
if ((fixtype >= 3 && fixtype <= 4) && ublox.getP()) // rd fixes only
{
// we only notify if position has changed
isConnected = true; // We just received a packet, so we must have a GPS
@ -182,17 +191,22 @@ void GPS::doTask()
longitude = ublox.getLongitude() * 1e-7;
altitude = ublox.getAltitude() / 1000; // in mm convert to meters
DEBUG_MSG("new gps pos lat=%f, lon=%f, alt=%d\n", latitude, longitude, altitude);
hasValidLocation = true;
wantNewLocation = false;
notifyObservers();
//ublox.powerOff();
hasValidLocation = (latitude != 0) || (longitude != 0); // bogus lat lon is reported as 0,0
if (hasValidLocation)
{
wantNewLocation = false;
notifyObservers();
//ublox.powerOff();
}
}
else // we didn't get a location update, go back to sleep and hope the characters show up
wantNewLocation = true;
#endif
// Once we have sent a location once we only poll the GPS rarely, otherwise check back every 100ms until we have something over the serial
setPeriod(hasValidLocation && !wantNewLocation ? 30 * 1000 : 100);
#endif
// Once we have sent a location once we only poll the GPS rarely, otherwise check back every 1s until we have something over the serial
setPeriod(hasValidLocation && !wantNewLocation ? 30 * 1000 : 1000);
}
void GPS::startLock()