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fix #397 from @a-f-G-U-C - bogus GPS positions during locking could be reported

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btw - from my read of the NMEA, the lowest value that means 'has a valid
position' is 1 not 2.  But I only know this because you pointed me at
it ;-)

Thanks!
This commit is contained in:
geeksville 2020-09-16 09:18:44 -07:00
parent 8c240b59f6
commit 8e988cc926
2 changed files with 11 additions and 5 deletions
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12
src/gps/NEMAGPS.cpp
View File

@ -44,6 +44,9 @@ void NEMAGPS::loop()
isConnected = true; // we seem to have a real GPS (but not necessarily a lock) isConnected = true; // we seem to have a real GPS (but not necessarily a lock)
} }
uint8_t fixtype = reader.fixQuality();
hasValidLocation = ((fixtype >= 1) && (fixtype <= 5));
if (reader.location.isUpdated()) { if (reader.location.isUpdated()) {
if (reader.altitude.isValid()) if (reader.altitude.isValid())
altitude = reader.altitude.meters(); altitude = reader.altitude.meters();
@ -58,18 +61,21 @@ void NEMAGPS::loop()
dop = reader.hdop.value(); dop = reader.hdop.value();
} }
if (reader.course.isValid()) { if (reader.course.isValid()) {
heading = reader.course.value() * 1e3; //Scale the heading (in degrees * 10^-2) to match the expected degrees * 10^-5 heading =
reader.course.value() * 1e3; // Scale the heading (in degrees * 10^-2) to match the expected degrees * 10^-5
} }
if (reader.satellites.isValid()) { if (reader.satellites.isValid()) {
numSatellites = reader.satellites.value(); numSatellites = reader.satellites.value();
} }
// expect gps pos lat=37.520825, lon=-122.309162, alt=158 // expect gps pos lat=37.520825, lon=-122.309162, alt=158
DEBUG_MSG("new NEMA GPS pos lat=%f, lon=%f, alt=%d, hdop=%f, heading=%f\n", latitude * 1e-7, longitude * 1e-7, altitude, dop * 1e-2, heading * 1e-5); DEBUG_MSG("new NEMA GPS pos lat=%f, lon=%f, alt=%d, hdop=%f, heading=%f\n", latitude * 1e-7, longitude * 1e-7,
altitude, dop * 1e-2, heading * 1e-5);
} }
// Notify any status instances that are observing us // Notify any status instances that are observing us
const meshtastic::GPSStatus status = meshtastic::GPSStatus(hasLock(), isConnected, latitude, longitude, altitude, dop, heading, numSatellites); const meshtastic::GPSStatus status =
meshtastic::GPSStatus(hasLock(), isConnected, latitude, longitude, altitude, dop, heading, numSatellites);
newStatus.notifyObservers(&status); newStatus.notifyObservers(&status);
} }
} }

4
src/mesh/MeshService.cpp
View File

@ -299,8 +299,8 @@ int MeshService::onGPSChanged(const meshtastic::GPSStatus *unused)
p->decoded.which_payload = SubPacket_position_tag; p->decoded.which_payload = SubPacket_position_tag;
Position &pos = p->decoded.position; Position &pos = p->decoded.position;
// !zero or !zero lat/long means valid
if (gps->latitude != 0 || gps->longitude != 0) { if (gps->hasLock()) {
if (gps->altitude != 0) if (gps->altitude != 0)
pos.altitude = gps->altitude; pos.altitude = gps->altitude;
pos.latitude_i = gps->latitude; pos.latitude_i = gps->latitude;