fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-17 06:33:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

sdlog2: Fix GPS sat offset math

Browse Source
This commit is contained in:
Lorenz Meier
2014-05-23 13:41:27 +02:00
parent b3d6dcb2e5
commit 98d5ed5e73
1 changed files with 13 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sdlog2/sdlog2.c
+13 -4
View File
@@ -1069,9 +1069,13 @@ int sdlog2_thread_main(int argc, char *argv[])
memset(&log_msg.body.log_GS0A, 0, sizeof(log_msg.body.log_GS0A));
/* fill set A */
for (unsigned i = 0; i < gps_msg_max_snr; i++) {
if (buf_gps_pos.satellite_prn[i] < log_max_snr) {
int satindex = buf_gps_pos.satellite_prn[i] - 1;
/* handles index exceeding and wraps to to arithmetic errors */
if ((satindex >= 0) && (satindex < log_max_snr)) {
/* map satellites by their ID so that logs from two receivers can be compared */
log_msg.body.log_GS0A.satellite_snr[buf_gps_pos.satellite_prn[i]] = buf_gps_pos.satellite_snr[i];
log_msg.body.log_GS0A.satellite_snr[satindex] = buf_gps_pos.satellite_snr[i];
}
}
LOGBUFFER_WRITE_AND_COUNT(GS0A);
@@ -1080,9 +1084,14 @@ int sdlog2_thread_main(int argc, char *argv[])
memset(&log_msg.body.log_GS0B, 0, sizeof(log_msg.body.log_GS0B));
/* fill set B */
for (unsigned i = 0; i < gps_msg_max_snr; i++) {
if (buf_gps_pos.satellite_prn[i] < log_max_snr) {
/* get second bank of satellites, thus deduct bank size from index */
int satindex = buf_gps_pos.satellite_prn[i] - 1 - log_max_snr;
/* handles index exceeding and wraps to to arithmetic errors */
if ((satindex >= 0) && (satindex < log_max_snr)) {
/* map satellites by their ID so that logs from two receivers can be compared */
log_msg.body.log_GS0B.satellite_snr[buf_gps_pos.satellite_prn[i]] = buf_gps_pos.satellite_snr[i];
log_msg.body.log_GS0B.satellite_snr[satindex] = buf_gps_pos.satellite_snr[i];
}
}
LOGBUFFER_WRITE_AND_COUNT(GS0B);