CHANGELOG.md

@@ -16,6 +16,11 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+## Fixed
+
+- Linux GPS handler now checks the individual `*_SET` flags when analysing the `gpsd` struct.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/400
+
 # [v1.32.0]
 
 eive-tmtc: v2.16.1

linux/devices/GpsHyperionLinuxController.cpp

@@ -195,7 +195,7 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
   if (MODE_SET != (MODE_SET & gps.set)) {
     if (mode != MODE_OFF) {
       if (maxTimeToReachFix.hasTimedOut() and oneShotSwitches.cantGetFixSwitch) {
-        sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: No mode could be set in allowed "
+        sif::warning << "GpsHyperionLinuxController: No mode could be set in allowed "
                      << maxTimeToReachFix.timeout / 1000 << " seconds" << std::endl;
         triggerEvent(GpsHyperion::CANT_GET_FIX, maxTimeToReachFix.timeout);
         oneShotSwitches.cantGetFixSwitch = false;
@@ -237,15 +237,25 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
   }
   gpsSet.fixMode.setValid(modeIsSet);
 
-  bool satInfoValid = false;
+  // Only set on specific messages, so only set a valid flag to invalid
+  // if not set for more than a full message set (10 messages here)
   if (SATELLITE_SET == (SATELLITE_SET & gps.set)) {
-    satInfoValid = true;
     gpsSet.satInUse.value = gps.satellites_used;
     gpsSet.satInView.value = gps.satellites_visible;
+    if (not gpsSet.satInUse.isValid()) {
+      gpsSet.satInUse.setValid(true);
+      gpsSet.satInView.setValid(true);
+    }
+    satNotSetCounter = 0;
+  } else {
+    satNotSetCounter++;
+    if (gpsSet.satInUse.isValid() and satNotSetCounter >= 10) {
+      gpsSet.satInUse.setValid(false);
+      gpsSet.satInView.setValid(false);
+    }
   }
-  gpsSet.satInUse.setValid(satInfoValid);
-  gpsSet.satInView.setValid(satInfoValid);
 
+  // LATLON is set for every message, no need for a counter
   bool latValid = false;
   bool longValid = false;
   if (LATLON_SET == (LATLON_SET & gps.set)) {
@@ -270,6 +280,7 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
   gpsSet.latitude.setValid(latValid);
   gpsSet.longitude.setValid(longValid);
 
+  // ALTITUDE is set for every message, no need for a counter
   bool altitudeValid = false;
   if (ALTITUDE_SET == (ALTITUDE_SET & gps.set) && std::isfinite(gps.fix.altitude)) {
     gpsSet.altitude.value = gps.fix.altitude;
@@ -280,6 +291,7 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
   }
   gpsSet.altitude.setValid(altitudeValid);
 
+  // SPEED is set for every message, no need for a counter
   bool speedValid = false;
   if (SPEED_SET == (SPEED_SET & gps.set) && std::isfinite(gps.fix.speed)) {
     gpsSet.speed.value = gps.fix.speed;
@@ -287,6 +299,7 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
   }
   gpsSet.speed.setValid(speedValid);
 
+  // TIME is set for every message, no need for a counter
   bool timeValid = false;
   if (TIME_SET == (TIME_SET & gps.set)) {
     timeValid = true;

linux/devices/GpsHyperionLinuxController.h

@@ -61,6 +61,8 @@ class GpsHyperionLinuxController : public ExtendedControllerBase {
   Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);
   bool modeCommanded = false;
   bool timeInit = false;
+  uint8_t satNotSetCounter = 0;
+
 #if OBSW_THREAD_TRACING == 1
   uint32_t opCounter = 0;
 #endif

tmtc

@@ -1 +1 @@
-Subproject commit 13014eb25053368f4fb9a445788aba71ff98de19
+Subproject commit 9720fcddecb04b228dc5eb0d064f15a12ef8daca