eive/eive-obsw
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this should remove the fix changed spam
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This commit is contained in:
Marius Eggert
2024-02-29 16:06:55 +01:00
parent 9a8c059e05
commit 236916bf67
5 changed files with 30 additions and 22 deletions
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28
linux/acs/GpsHyperionLinuxController.cpp
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@ -58,8 +58,8 @@ ReturnValue_t GpsHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_
PoolReadGuard pg(&gpsSet);
gpsSet.setValidity(false, true);
// There can't be a fix with a device that is off.
triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, 0);
gpsSet.fixMode.value = 0;
handleFixChangedEvent(GpsHyperion::FixMode::NOT_SEEN);
gpsSet.fixMode.value = GpsHyperion::FixMode::NOT_SEEN;
oneShotSwitches.reset();
modeCommanded = false;
}
@ -249,11 +249,12 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
uint8_t newFix = 0;
if (modeIsSet) {
// 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 == GpsHyperion::FixMode::FIX_2D or
gps.fix.mode == GpsHyperion::FixMode::FIX_3D) {
validFix = true;
}
newFix = gps.fix.mode;
if (newFix == 0 or newFix == 1) {
if (newFix == GpsHyperion::FixMode::NOT_SEEN or newFix == GpsHyperion::FixMode::NO_FIX) {
if (modeCommanded and maxTimeToReachFix.hasTimedOut()) {
// We are supposed to be on and functioning, but no fix was found
if (mode == MODE_ON or mode == MODE_NORMAL) {
@ -264,9 +265,7 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
}
}
if (gpsSet.fixMode.value != newFix) {
#if OBSW_Q7S_EM != 1
triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, newFix);
#endif
handleFixChangedEvent(newFix);
}
gpsSet.fixMode = newFix;
gpsSet.fixMode.setValid(modeIsSet);
@ -297,7 +296,7 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
// Negative latitude -> South direction
gpsSet.latitude.value = gps.fix.latitude;
// As specified in gps.h: Only valid if mode >= 2
if (gps.fix.mode >= 2) {
if (gps.fix.mode >= GpsHyperion::FixMode::FIX_2D) {
latValid = true;
}
}
@ -306,7 +305,7 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
// Negative longitude -> West direction
gpsSet.longitude.value = gps.fix.longitude;
// As specified in gps.h: Only valid if mode >= 2
if (gps.fix.mode >= 2) {
if (gps.fix.mode >= GpsHyperion::FixMode::FIX_2D) {
longValid = true;
}
}
@ -319,7 +318,7 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
if (ALTITUDE_SET == (ALTITUDE_SET & gps.set) && std::isfinite(gps.fix.altitude)) {
gpsSet.altitude.value = gps.fix.altitude;
// As specified in gps.h: Only valid if mode == 3
if (gps.fix.mode == 3) {
if (gps.fix.mode == GpsHyperion::FixMode::FIX_3D) {
altitudeValid = true;
}
}
@ -430,3 +429,12 @@ void GpsHyperionLinuxController::overwriteTimeIfNotSane(timeval time, bool valid
timeInit = true;
}
}
void GpsHyperionLinuxController::handleFixChangedEvent(uint8_t newFix) {
if (gainedNewFix.hasTimedOut()) {
triggerEvent(GpsHyperion::GPS_FIX_CHANGE, newFix, fixChangeCounter);
fixChangeCounter = 0;
}
fixChangeCounter++;
gainedNewFix.resetTimer();
}