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Merge branch 'master' into feature/environmental-ds18b20-sensor-support

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Joar Svensson 2021-10-24 11:36:10 +02:00 committed by GitHub
commit 90d95d8e98
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3 changed files with 102 additions and 44 deletions
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74
src/GPSStatus.h
View File

@ -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);

32
src/gps/UBloxGPS.cpp
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@ -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;
}

40
src/plugins/PositionPlugin.cpp
View File

@ -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