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Removed some unnecessairy flags, home position back working

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This commit is contained in:
Julian Oes
2013-02-06 13:50:32 -08:00
parent fc4be3e728
commit d962e6c403
5 changed files with 16 additions and 51 deletions
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apps/drivers/gps/ubx.cpp
+8 -41
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@@ -50,12 +50,7 @@
UBX::UBX() :
_config_state(UBX_CONFIG_STATE_PRT),
_waiting_for_ack(false),
_new_nav_posllh(false),
_new_nav_timeutc(false),
//_new_nav_dop(false),
_new_nav_sol(false),
_new_nav_velned(false)
_waiting_for_ack(false)
{
reset();
}
@@ -413,13 +408,12 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
gps_position->lon = packet->lon;
gps_position->alt = packet->height_msl;
gps_position->eph_m = (float)packet->hAcc * 1e-2f; // from mm to m
gps_position->epv_m = (float)packet->vAcc * 1e-2f; // from mm to m
gps_position->eph_m = (float)packet->hAcc * 1e-3f; // from mm to m
gps_position->epv_m = (float)packet->vAcc * 1e-3f; // from mm to m
/* Add timestamp to finish the report */
gps_position->timestamp_position = hrt_absolute_time();
_new_nav_posllh = true;
/* set flag to trigger publishing of new position */
pos_updated = true;
@@ -445,9 +439,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
gps_position->timestamp_variance = hrt_absolute_time();
_new_nav_sol = true;
} else {
warnx("NAV_SOL: checksum invalid");
}
@@ -502,8 +493,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
gps_position->timestamp_time = hrt_absolute_time();
_new_nav_timeutc = true;
} else {
warnx("NAV_TIMEUTC: checksum invalid");
}
@@ -581,20 +570,16 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
gps_position->satellite_elevation[i] = 0;
gps_position->satellite_azimuth[i] = 0;
}
gps_position->satellites_visible = satellites_used; // visible ~= used but we are interested in the used ones
/* set flag if any sat info is available */
if (!packet_part1->numCh > 0) {
gps_position->satellite_info_available = 1;
/* set timestamp if any sat info is available */
if (packet_part1->numCh > 0) {
gps_position->satellite_info_available = true;
} else {
gps_position->satellite_info_available = 0;
gps_position->satellite_info_available = false;
}
gps_position->satellites_visible = satellites_used++; // visible ~= used but we are interested in the used ones
gps_position->timestamp_satellites = hrt_absolute_time();
// as this message arrives only with 1Hz and is not essential, we don't take it into account for the report
} else {
warnx("NAV_SVINFO: checksum invalid");
}
@@ -619,9 +604,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
gps_position->vel_ned_valid = true;
gps_position->timestamp_velocity = hrt_absolute_time();
_new_nav_velned = true;
} else {
warnx("NAV_VELNED: checksum invalid");
}
@@ -760,21 +742,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
default:
break;
}
/* return 1 when position updates and the remaining packets updated at least once */
if(_new_nav_posllh &&_new_nav_timeutc /*&& _new_nav_dop*/ && _new_nav_sol && _new_nav_velned) {
/* we have received everything, this most probably means that the configuration is fine */
config_needed = false;
/* Reset the flags */
_new_nav_posllh = false;
_new_nav_timeutc = false;
// _new_nav_dop = false;
_new_nav_sol = false;
_new_nav_velned = false;
}
return;
}