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GNSS Ctrl Improvements #871

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meggert merged 24 commits from gnss-ctrl-improvements into main 2024-04-10 11:40:24 +02:00
Conversation 0 Commits 24 Files Changed 10 +53 -43
1 changed files with 53 additions and 43 deletions
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Showing only changes of commit 2057ab9c10 - Show all commits

96
linux/acs/GpsHyperionLinuxController.cpp
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@ -54,7 +54,7 @@ ReturnValue_t GpsHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_
gainedNewFix.timeOut();
PoolReadGuard pg(&gpsSet);
gpsSet.setValidity(false, true);
// There can't be a fix with a device that is off.
// The ctrl is off, so it cannot detect the data from the devices.
handleFixChangedEvent(GpsHyperion::FixMode::NOT_SEEN);
gpsSet.fixMode.value = GpsHyperion::FixMode::NOT_SEEN;
oneShotSwitches.reset();
@ -215,15 +215,9 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
bool modeIsSet = true;
if (MODE_SET != (MODE_SET & gps.set)) {
if (mode != MODE_OFF) {
if (maxTimeToReachFix.hasTimedOut() and oneShotSwitches.cantGetFixSwitch) {
sif::warning << "GpsHyperionLinuxController: No mode could be set in allowed "
<< maxTimeToReachFix.getTimeoutMs() / 1000 << " seconds" << std::endl;
triggerEvent(GpsHyperion::CANT_GET_FIX, maxTimeToReachFix.getTimeoutMs());
oneShotSwitches.cantGetFixSwitch = false;
}
modeIsSet = false;
} else {
// GPS device is off anyway, so do other handling
// GPS ctrl is off anyway, so do other handling
return returnvalue::FAILED;
}
}
@ -253,21 +247,28 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
validFix = true;
}
newFix = gps.fix.mode;
if (newFix == GpsHyperion::FixMode::NOT_SEEN or newFix == GpsHyperion::FixMode::NO_FIX) {
if (not validFix) {
if (maxTimeToReachFix.hasTimedOut()) {
// We are supposed to be on and functioning, but no fix was found
// Set HK entries invalid
gpsSet.setValidity(false, true);
if (resetCallback != nullptr) {
uint8_t chip = GpsHyperion::GnssChip::A_SIDE;
ReturnValue_t result = resetCallback(&chip, 1, resetCallbackArgs);
if (result != returnvalue::OK) {
triggerEvent(GpsHyperion::RESET_FAIL, chip);
}
chip = GpsHyperion::GnssChip::B_SIDE;
result = resetCallback(&chip, 1, resetCallbackArgs);
if (result != returnvalue::OK) {
triggerEvent(GpsHyperion::RESET_FAIL, chip);
if (oneShotSwitches.cantGetFixSwitch) {
sif::warning << "GpsHyperionLinuxController: No fix detected in allowed "
<< maxTimeToReachFix.getTimeoutMs() / 1000 << " seconds" << std::endl;
triggerEvent(GpsHyperion::CANT_GET_FIX, maxTimeToReachFix.getTimeoutMs());
oneShotSwitches.cantGetFixSwitch = false;
// Try resetting the devices
if (resetCallback != nullptr) {
uint8_t chip = GpsHyperion::GnssChip::A_SIDE;
ReturnValue_t result = resetCallback(&chip, 1, resetCallbackArgs);
if (result != returnvalue::OK) {
triggerEvent(GpsHyperion::RESET_FAIL, chip);
}
chip = GpsHyperion::GnssChip::B_SIDE;
result = resetCallback(&chip, 1, resetCallbackArgs);
if (result != returnvalue::OK) {
triggerEvent(GpsHyperion::RESET_FAIL, chip);
}
}
}
}
@ -290,9 +291,12 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
}
satNotSetCounter = 0;
} else {
satNotSetCounter++;
if (gpsSet.satInUse.isValid() and satNotSetCounter >= 10) {
if (satNotSetCounter < 10) {
satNotSetCounter++;
} else {
gpsSet.satInUse.value = 0;
gpsSet.satInUse.setValid(false);
gpsSet.satInView.value = 0;
gpsSet.satInView.setValid(false);
}
}
@ -300,22 +304,24 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
// LATLON is set for every message, no need for a counter
bool latValid = false;
bool longValid = false;
if (LATLON_SET == (LATLON_SET & gps.set)) {
if (std::isfinite(gps.fix.latitude)) {
// Negative latitude -> South direction
gpsSet.latitude.value = gps.fix.latitude;
// As specified in gps.h: Only valid if mode >= 2
if (gps.fix.mode >= GpsHyperion::FixMode::FIX_2D) {
latValid = true;
if (modeIsSet) {
if (LATLON_SET == (LATLON_SET & gps.set)) {
if (std::isfinite(gps.fix.latitude)) {
muellerr commented 2024-04-09 17:39:20 +02:00
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this don't make sense if mode is not set? I think I took this from the gpsd sample code..

this don't make sense if mode is not set? I think I took this from the gpsd sample code..
// Negative latitude -> South direction
gpsSet.latitude.value = gps.fix.latitude;
// As specified in gps.h: Only valid if mode >= 2
if (gps.fix.mode >= GpsHyperion::FixMode::FIX_2D) {
latValid = true;
}
}
}
if (std::isfinite(gps.fix.longitude)) {
// Negative longitude -> West direction
gpsSet.longitude.value = gps.fix.longitude;
// As specified in gps.h: Only valid if mode >= 2
if (gps.fix.mode >= GpsHyperion::FixMode::FIX_2D) {
longValid = true;
if (std::isfinite(gps.fix.longitude)) {
// Negative longitude -> West direction
gpsSet.longitude.value = gps.fix.longitude;
// As specified in gps.h: Only valid if mode >= 2
if (gps.fix.mode >= GpsHyperion::FixMode::FIX_2D) {
longValid = true;
}
}
}
}
@ -324,20 +330,24 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
// 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;
// As specified in gps.h: Only valid if mode == 3
if (gps.fix.mode == GpsHyperion::FixMode::FIX_3D) {
altitudeValid = true;
if (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
muellerr commented 2024-04-09 17:39:00 +02:00
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this don't make sense if mode is not set? I think I took this from the gpsd sample code..

this don't make sense if mode is not set? I think I took this from the gpsd sample code..
meggert commented 2024-04-10 11:33:06 +02:00
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If no MODE_SET then do not bother to look at the rest of the data in gpsdata.fix.

That is what gps larry wrote himself. I don't think this changes much anyways.

> If no MODE_SET then do not bother to look at the rest of the data in gpsdata.fix. That is what gps larry wrote himself. I don't think this changes much anyways.
if (gps.fix.mode == GpsHyperion::FixMode::FIX_3D) {
altitudeValid = true;
}
}
}
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;
speedValid = true;
if (modeIsSet) {
if (SPEED_SET == (SPEED_SET & gps.set) && std::isfinite(gps.fix.speed)) {
gpsSet.speed.value = gps.fix.speed;
muellerr commented 2024-04-09 17:39:05 +02:00
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this don't make sense if mode is not set? I think I took this from the gpsd sample code..

this don't make sense if mode is not set? I think I took this from the gpsd sample code..
speedValid = true;
}
}
gpsSet.speed.setValid(speedValid);