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implement fix2d and max DOP user settings

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a-f-G-U-C 2021-10-27 13:30:39 +00:00 committed by GitHub
parent e6b4ee8084
commit e89b3bd1ec
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1 changed files with 19 additions and 5 deletions
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24
src/gps/UBloxGPS.cpp
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@ -225,6 +225,10 @@ bool UBloxGPS::lookForLocation()
int32_t tmp_lon = ublox.getLongitude(0); int32_t tmp_lon = ublox.getLongitude(0);
int32_t tmp_alt_msl = ublox.getAltitudeMSL(0); int32_t tmp_alt_msl = ublox.getAltitudeMSL(0);
int32_t tmp_alt_hae = ublox.getAltitude(0); int32_t tmp_alt_hae = ublox.getAltitude(0);
int32_t max_dop = PDOP_INVALID;
if (radioConfig.preferences.gps_max_dop)
max_dop = radioConfig.preferences.gps_max_dop * 100; // scaling
// Note: heading is only currently implmented in the ublox for the 8m chipset - therefore // Note: heading is only currently implmented in the ublox for the 8m chipset - therefore
// don't read it here - it will generate an ignored getPVT command on the 6ms // don't read it here - it will generate an ignored getPVT command on the 6ms
// heading = ublox.getHeading(0); // heading = ublox.getHeading(0);
@ -248,16 +252,23 @@ bool UBloxGPS::lookForLocation()
// FIXME - NULL ISLAND is a real location on Earth! // FIXME - NULL ISLAND is a real location on Earth!
foundLocation = (tmp_lat != 0) && (tmp_lon != 0) && foundLocation = (tmp_lat != 0) && (tmp_lon != 0) &&
(tmp_lat <= 900000000) && (tmp_lat >= -900000000) && (tmp_lat <= 900000000) && (tmp_lat >= -900000000) &&
(tmp_dop < PDOP_INVALID); (tmp_dop < max_dop);
// only if entire dataset is valid, update globals from temp vars // only if entire dataset is valid, update globals from temp vars
if (foundLocation) { if (foundLocation) {
p.location_source = Position_LocSource_LOCSRC_GPS_INTERNAL; p.location_source = Position_LocSource_LOCSRC_GPS_INTERNAL;
p.longitude_i = tmp_lon; p.longitude_i = tmp_lon;
p.latitude_i = tmp_lat; p.latitude_i = tmp_lat;
p.altitude = tmp_alt_msl / 1000; if (fixType > 2) {
p.altitude_hae = tmp_alt_hae / 1000; // if fix is 2d, ignore altitude data
p.alt_geoid_sep = (tmp_alt_hae - tmp_alt_msl) / 1000; p.altitude = tmp_alt_msl / 1000;
p.altitude_hae = tmp_alt_hae / 1000;
p.alt_geoid_sep = (tmp_alt_hae - tmp_alt_msl) / 1000;
} else {
#ifdef GPS_EXTRAVERBOSE
DEBUG_MSG("no altitude data (fixType=%d)\n", fixType);
#endif
}
p.pos_timestamp = tmp_ts; p.pos_timestamp = tmp_ts;
p.PDOP = tmp_dop; p.PDOP = tmp_dop;
p.fix_type = fixType; p.fix_type = fixType;
@ -277,7 +288,10 @@ bool UBloxGPS::lookForLocation()
bool UBloxGPS::hasLock() bool UBloxGPS::hasLock()
{ {
return (fixType >= 3 && fixType <= 4); if (radioConfig.preferences.gps_accept_2d)
return (fixType >= 2 && fixType <= 4);
else
return (fixType >= 3 && fixType <= 4);
} }
bool UBloxGPS::whileIdle() bool UBloxGPS::whileIdle()