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Merge pull request 'now fix loss should always be detected and reported' (#445) from bugfix_gps_fix_logic into develop
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Reviewed-on: #445
Reviewed-by: Marius Eggert <eggertm@irs.uni-stuttgart.de>
This commit is contained in:
Marius Eggert 2023-03-08 13:23:45 +01:00
commit 0bdc6d3d7c
3 changed files with 9 additions and 6 deletions
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1
CHANGELOG.md
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@ -31,6 +31,7 @@ will consitute of a breaking change warranting a new major release:
## Fixed ## Fixed
- GPS fix loss was not reported if mode is unset.
- Star Tracker: OFF to NORMAL transition now posssible. Requires FSFW bump which sets - Star Tracker: OFF to NORMAL transition now posssible. Requires FSFW bump which sets
transition source modes properly for those transitions. transition source modes properly for those transitions.
FSFW PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/131 FSFW PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/131

2
fsfw

@ -1 +1 @@
Subproject commit 1b7493f945302b3785ceba6e7a34a727e3898a13 Subproject commit 7f6ba5f40b47bc32802efdc4ed41b4bad4b8071b

12
linux/devices/GpsHyperionLinuxController.cpp
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@ -214,16 +214,14 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
} }
bool validFix = false; bool validFix = false;
uint8_t newFix = 0;
if (modeIsSet) { if (modeIsSet) {
// 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix // 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
if (gps.fix.mode == 2 or gps.fix.mode == 3) { if (gps.fix.mode == 2 or gps.fix.mode == 3) {
validFix = true; validFix = true;
} }
if (gpsSet.fixMode.value != gps.fix.mode) { newFix = gps.fix.mode;
triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, gps.fix.mode); if (newFix == 0 or newFix == 1) {
}
gpsSet.fixMode.value = gps.fix.mode;
if (gps.fix.mode == 0 or gps.fix.mode == 1) {
if (modeCommanded and maxTimeToReachFix.hasTimedOut()) { if (modeCommanded and maxTimeToReachFix.hasTimedOut()) {
// We are supposed to be on and functioning, but no fix was found // We are supposed to be on and functioning, but no fix was found
if (mode == MODE_ON or mode == MODE_NORMAL) { if (mode == MODE_ON or mode == MODE_NORMAL) {
@ -233,6 +231,10 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
} }
} }
} }
if (gpsSet.fixMode.value != newFix) {
triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, newFix);
}
gpsSet.fixMode = newFix;
gpsSet.fixMode.setValid(modeIsSet); gpsSet.fixMode.setValid(modeIsSet);
// Only set on specific messages, so only set a valid flag to invalid // Only set on specific messages, so only set a valid flag to invalid