eive/eive-obsw
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typos and other minor adaptions
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This commit is contained in:
Robin Müller 2023-02-07 10:22:12 +01:00
parent 07ca738842
commit d6aa6875cc
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GPG Key ID: 71B58F8A3CDFA9AC
1 changed files with 38 additions and 29 deletions
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67
linux/devices/GpsHyperionLinuxController.cpp
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@ -199,19 +199,17 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
}
bool validFix = false;
static_cast<void>(validFix);
// 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
int newFixMode = gps.fix.mode;
if (newFixMode == 2 or newFixMode == 3) {
if (gps.fix.mode == 2 or gps.fix.mode == 3) {
validFix = true;
}
if (gpsSet.fixMode.value != newFixMode) {
triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, newFixMode);
if (gpsSet.fixMode.value != gps.fix.mode) {
triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, gps.fix.mode);
}
gpsSet.fixMode.value = newFixMode;
gpsSet.fixMode.value = gps.fix.mode;
if (gps.fix.mode == 0 or gps.fix.mode == 1) {
if (modeCommanded and maxTimeToReachFix.hasTimedOut()) {
// We are supposed to be on and functioning, but not fix was found
// We are supposed to be on and functioning, but no fix was found
if (mode == MODE_ON or mode == MODE_NORMAL) {
mode = MODE_OFF;
}
@ -229,7 +227,7 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
if (std::isfinite(gps.fix.latitude)) {
// Negative latitude -> South direction
gpsSet.latitude.value = gps.fix.latitude;
if(gps.fix.mode >= 2) {
if (gps.fix.mode >= 2) {
latValid = true;
}
}
@ -239,7 +237,7 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
if (std::isfinite(gps.fix.longitude)) {
// Negative longitude -> West direction
gpsSet.longitude.value = gps.fix.longitude;
if(gps.fix.mode >= 2) {
if (gps.fix.mode >= 2) {
longValid = true;
}
}
@ -248,7 +246,7 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
bool altitudeValid = false;
if (std::isfinite(gps.fix.altitude)) {
gpsSet.altitude.value = gps.fix.altitude;
if(gps.fix.mode == 3) {
if (gps.fix.mode == 3) {
altitudeValid = true;
}
}
@ -260,29 +258,40 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
gpsSet.speed.setValid(false);
}
timeval time = {};
if (TIME_SET != (TIME_SET & gps.set)) {
timeval time = {};
#if LIBGPS_VERSION_MINOR <= 17
gpsSet.unixSeconds.value = std::floor(gps.fix.time);
double fractionalPart = gps.fix.time - gpsSet.unixSeconds.value;
time.tv_usec = fractionalPart * 1000.0 * 1000.0;
gpsSet.unixSeconds.value = std::floor(gps.fix.time);
double fractionalPart = gps.fix.time - gpsSet.unixSeconds.value;
time.tv_usec = fractionalPart * 1000.0 * 1000.0;
#else
gpsSet.unixSeconds.value = gps.fix.time.tv_sec;
time.tv_usec = gps.fix.time.tv_nsec / 1000;
gpsSet.unixSeconds.value = gps.fix.time.tv_sec;
time.tv_usec = gps.fix.time.tv_nsec / 1000;
#endif
time.tv_sec = gpsSet.unixSeconds.value;
// If the time is totally wrong (e.g. year 2000 after system reset because we do not have a RTC
// and no time file available) we set it with the roughly valid time from the GPS.
// NTP might only work if the time difference between sys time and current time is not too large.
overwriteTimeIfNotSane(time, validFix);
time.tv_sec = gpsSet.unixSeconds.value;
// If the time is totally wrong (e.g. year 2000 after system reset because we do not have a RTC
// and no time file available) we set it with the roughly valid time from the GPS.
// NTP might only work if the time difference between sys time and current time is not too
// large.
overwriteTimeIfNotSane(time, validFix);
Clock::TimeOfDay_t timeOfDay = {};
Clock::convertTimevalToTimeOfDay(&time, &timeOfDay);
gpsSet.year = timeOfDay.year;
gpsSet.month = timeOfDay.month;
gpsSet.day = timeOfDay.day;
gpsSet.hours = timeOfDay.hour;
gpsSet.minutes = timeOfDay.minute;
gpsSet.seconds = timeOfDay.second;
} else {
gpsSet.unixSeconds.setValid(false);
gpsSet.year.setValid(false);
gpsSet.month.setValid(false);
gpsSet.day.setValid(false);
gpsSet.hours.setValid(false);
gpsSet.minutes.setValid(false);
gpsSet.seconds.setValid(false);
}
Clock::TimeOfDay_t timeOfDay = {};
Clock::convertTimevalToTimeOfDay(&time, &timeOfDay);
gpsSet.year = timeOfDay.year;
gpsSet.month = timeOfDay.month;
gpsSet.day = timeOfDay.day;
gpsSet.hours = timeOfDay.hour;
gpsSet.minutes = timeOfDay.minute;
gpsSet.seconds = timeOfDay.second;
if (debugHyperionGps) {
sif::info << "-- Hyperion GPS Data --" << std::endl;
#if LIBGPS_VERSION_MINOR <= 17