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Some cleanup of NAV_SVINFO message handler

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Darryl Taylor
2013-07-09 17:07:11 +08:00
parent 6dff71668d
commit dc2ef7b3c6
1 changed files with 6 additions and 14 deletions
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src/drivers/gps/ubx.cpp
+6 -14
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@@ -567,28 +567,20 @@ UBX::handle_message()
memcpy(_rx_buffer_part2, &(_rx_buffer[length_part1 + i * length_part2]), length_part2);
packet_part2 = (gps_bin_nav_svinfo_part2_packet_t *) _rx_buffer_part2;
/* Write satellite information to global storage */
uint8_t sv_used = packet_part2->flags & 0x01;
/* Write satellite information in the global storage */
_gps_position->satellite_prn[i] = packet_part2->svid;
//if satellite information is healthy store the data
//DT uint8_t unhealthy = packet_part2->flags & 1 << 4; //flags is a bitfield
//DT Above is broken due to operator precedence. should be ... & (1<<4) or ... & 0x10.
//DT If an SV is unhealthy then it won't be used.
uint8_t sv_used = packet_part2->flags & 0x01;
if (sv_used) {
// Update count of SVs used for NAV.
if ( sv_used ) {
// Count SVs used for NAV.
satellites_used++;
}
// Record info for all used channels, whether or not the SV is used for NAV,
// Record info for all channels, whether or not the SV is used for NAV.
_gps_position->satellite_used[i] = sv_used;
_gps_position->satellite_snr[i] = packet_part2->cno;
_gps_position->satellite_elevation[i] = (uint8_t)(packet_part2->elev);
_gps_position->satellite_azimuth[i] = (uint8_t)((float)packet_part2->azim * 255.0f / 360.0f);
_gps_position->satellite_prn[i] = packet_part2->svid;
}
for (i = packet_part1->numCh; i < 20; i++) { //these channels are unused