eive/eive-obsw
eive/eive-obsw
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now fix loss should always be detected and reported #445

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meggert merged 4 commits from bugfix_gps_fix_logic into develop 2023-03-08 13:23:47 +01:00
Conversation 0 Commits 4 Files Changed 3 +7 -5
1 changed files with 7 additions and 5 deletions
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Showing only changes of commit af1c18e8cf - Show all commits

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