eive/eive-obsw
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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 3 Commits 24 Files Changed 10 +30 -22
5 changed files with 30 additions and 22 deletions
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Showing only changes of commit 236916bf67 - Show all commits

3
bsp_q7s/core/CoreController.cpp
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@ -2072,8 +2072,7 @@ ReturnValue_t CoreController::initClockFromTimeFile() {
std::string fileName = currMntPrefix + BACKUP_TIME_FILE;
std::error_code e;
if (sdcMan->isSdCardUsable(std::nullopt) and std::filesystem::exists(fileName, e) and
((gpsFix == FixMode::UNKNOWN or gpsFix == FixMode::NOT_SEEN) or
not utility::timeSanityCheck())) {
((gpsFix == FixMode::NOT_SEEN) or not utility::timeSanityCheck())) {
ifstream timeFile(fileName);
string nextWord;
getline(timeFile, nextWord);

2
bsp_q7s/core/CoreController.h
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@ -209,7 +209,7 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
static constexpr MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
static constexpr uint32_t MUTEX_TIMEOUT = 20;
bool enableHkSet = false;
GpsHyperion::FixMode gpsFix = GpsHyperion::FixMode::UNKNOWN;
GpsHyperion::FixMode gpsFix = GpsHyperion::FixMode::NOT_SEEN;
// States for SD state machine, which is used in non-blocking mode
enum class SdStates {

28
linux/acs/GpsHyperionLinuxController.cpp
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@ -58,8 +58,8 @@ ReturnValue_t GpsHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_
PoolReadGuard pg(&gpsSet);
gpsSet.setValidity(false, true);
// There can't be a fix with a device that is off.
triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, 0);
gpsSet.fixMode.value = 0;
handleFixChangedEvent(GpsHyperion::FixMode::NOT_SEEN);
gpsSet.fixMode.value = GpsHyperion::FixMode::NOT_SEEN;
oneShotSwitches.reset();
modeCommanded = false;
}
@ -249,11 +249,12 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
uint8_t newFix = 0;
if (modeIsSet) {
// 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 == GpsHyperion::FixMode::FIX_2D or
gps.fix.mode == GpsHyperion::FixMode::FIX_3D) {
validFix = true;
}
newFix = gps.fix.mode;
if (newFix == 0 or newFix == 1) {
if (newFix == GpsHyperion::FixMode::NOT_SEEN or newFix == GpsHyperion::FixMode::NO_FIX) {
if (modeCommanded and maxTimeToReachFix.hasTimedOut()) {
// We are supposed to be on and functioning, but no fix was found
if (mode == MODE_ON or mode == MODE_NORMAL) {
@ -264,9 +265,7 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
}
}
if (gpsSet.fixMode.value != newFix) {
#if OBSW_Q7S_EM != 1
triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, newFix);
#endif
handleFixChangedEvent(newFix);
}
gpsSet.fixMode = newFix;
gpsSet.fixMode.setValid(modeIsSet);
@ -297,7 +296,7 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
// Negative latitude -> South direction
gpsSet.latitude.value = gps.fix.latitude;
// As specified in gps.h: Only valid if mode >= 2
if (gps.fix.mode >= 2) {
if (gps.fix.mode >= GpsHyperion::FixMode::FIX_2D) {
latValid = true;
}
}
@ -306,7 +305,7 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
// Negative longitude -> West direction
gpsSet.longitude.value = gps.fix.longitude;
// As specified in gps.h: Only valid if mode >= 2
if (gps.fix.mode >= 2) {
if (gps.fix.mode >= GpsHyperion::FixMode::FIX_2D) {
longValid = true;
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..
}
}
@ -319,7 +318,7 @@ ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool 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
if (gps.fix.mode == 3) {
if (gps.fix.mode == GpsHyperion::FixMode::FIX_3D) {
altitudeValid = true;
}
}
@ -430,3 +429,12 @@ void GpsHyperionLinuxController::overwriteTimeIfNotSane(timeval time, bool valid
timeInit = true;
}
}
void GpsHyperionLinuxController::handleFixChangedEvent(uint8_t newFix) {
if (gainedNewFix.hasTimedOut()) {
triggerEvent(GpsHyperion::GPS_FIX_CHANGE, newFix, fixChangeCounter);
fixChangeCounter = 0;
}
fixChangeCounter++;
gainedNewFix.resetTimer();
}

13
linux/acs/GpsHyperionLinuxController.h
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@ -1,14 +1,13 @@
#ifndef MISSION_DEVICES_GPSHYPERIONHANDLER_H_
#define MISSION_DEVICES_GPSHYPERIONHANDLER_H_
#include <common/config/eive/eventSubsystemIds.h>
#include <fsfw/FSFW.h>
#include <fsfw/controller/ExtendedControllerBase.h>
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <mission/acs/archive/GPSDefinitions.h>
#include <mission/utility/trace.h>
#include "eive/eventSubsystemIds.h"
#include "fsfw/FSFW.h"
#include "fsfw/controller/ExtendedControllerBase.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#ifdef FSFW_OSAL_LINUX
#include <gps.h>
#include <libgpsmm.h>
@ -65,6 +64,8 @@ class GpsHyperionLinuxController : public ExtendedControllerBase {
const char* currentClientBuf = nullptr;
ReadModes readMode = ReadModes::SOCKET;
Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);
Countdown gainedNewFix = Countdown(60 * 2 * 1000);
uint32_t fixChangeCounter = 0;
bool modeCommanded = false;
bool timeInit = false;
uint8_t satNotSetCounter = 0;
@ -92,6 +93,8 @@ class GpsHyperionLinuxController : public ExtendedControllerBase {
// we set it with the roughly valid time from the GPS. For some reason, NTP might only work
// if the time difference between sys time and current time is not too large
void overwriteTimeIfNotSane(timeval time, bool validFix);
void handleFixChangedEvent(uint8_t newFix);
};
#endif /* MISSION_DEVICES_GPSHYPERIONHANDLER_H_ */

6
mission/acs/archive/GPSDefinitions.h
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@ -7,10 +7,10 @@
namespace GpsHyperion {
enum class FixMode : uint8_t { NOT_SEEN = 0, NO_FIX = 1, FIX_2D = 2, FIX_3D = 3, UNKNOWN = 4 };
enum FixMode : uint8_t { NOT_SEEN = 0, NO_FIX = 1, FIX_2D = 2, FIX_3D = 3 };
meggert marked this conversation as resolved Outdated
muellerr commented 2024-03-05 10:44:16 +01:00
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is this still used? Because its in the archive..

is this still used? Because its in the archive..
meggert commented 2024-03-05 13:06:08 +01:00
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it is in the core ctrl. i might move the used stuff to a separate defs file

it is in the core ctrl. i might move the used stuff to a separate defs file
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::GPS_HANDLER;
//! [EXPORT] : [COMMENT] Fix has changed. P1: Old fix. P2: New fix
//! [EXPORT] : [COMMENT] Fix has changed. P1: New fix. P2: Missed fix changes
//! 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix
static constexpr Event GPS_FIX_CHANGE = event::makeEvent(SUBSYSTEM_ID, 0, severity::INFO);
//! [EXPORT] : [COMMENT] Could not get fix in maximum allowed time. P1: Maximum allowed time
@ -53,8 +53,6 @@ static constexpr uint8_t SKYVIEW_ENTRIES = 6;
static constexpr uint8_t MAX_SATELLITES = 30;
enum GpsFixModes : uint8_t { INVALID = 0, NO_FIX = 1, FIX_2D = 2, FIX_3D = 3 };
} // namespace GpsHyperion
class GpsPrimaryDataset : public StaticLocalDataSet<GpsHyperion::CORE_DATASET_ENTRIES> {