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More improvements for gps handler #400

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muellerr merged 6 commits from improvements_gps_handler into develop 2023-02-26 18:20:30 +01:00
Conversation 0 Commits 6 Files Changed 4 +26 -6
4 changed files with 26 additions and 6 deletions
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5
CHANGELOG.md
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@ -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

23
linux/devices/GpsHyperionLinuxController.cpp
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@ -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;

2
linux/devices/GpsHyperionLinuxController.h
View File

@ -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

2
tmtc

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