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Commander: Check if GPS receiver is suffering from jamming noise

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This commit is contained in:
Johan Jansen
2015-05-14 19:29:35 +02:00
parent 45f1fd6634
commit f020ad4ba3
1 changed files with 25 additions and 11 deletions
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src/modules/commander/commander.cpp
+25 -11
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@@ -125,6 +125,8 @@ static const int ERROR = -1;
extern struct system_load_s system_load;
static constexpr uint8_t COMMANDER_MAX_GPS_NOISE = 60; /**< Maximum percentage signal to noise ratio allowed for GPS reception */
/* Decouple update interval and hysteris counters, all depends on intervals */
#define COMMANDER_MONITORING_INTERVAL 50000
#define COMMANDER_MONITORING_LOOPSPERMSEC (1/(COMMANDER_MONITORING_INTERVAL/1000.0f))
@@ -1634,19 +1636,31 @@ int commander_thread_main(int argc, char *argv[])
(float)gps_position.alt * 1.0e-3f, hrt_absolute_time());
}
/* check if GPS fix is ok */
if (status.circuit_breaker_engaged_gpsfailure_check ||
(gps_position.fix_type >= 3 &&
hrt_elapsed_time(&gps_position.timestamp_position) < FAILSAFE_DEFAULT_TIMEOUT)) {
/* handle the case where gps was regained */
if (status.gps_failure) {
status.gps_failure = false;
status_changed = true;
mavlink_log_critical(mavlink_fd, "gps regained");
/* check if GPS is ok */
if (status.circuit_breaker_engaged_gpsfailure_check) {
bool gpsIsNoisy = gps_position.noise_per_ms > 0 && gps_position.noise_per_ms < COMMANDER_MAX_GPS_NOISE;
//Check if GPS receiver is too noisy while we are disarmed
if (!armed.armed && gpsIsNoisy) {
if (!status.gps_failure) {
mavlink_log_critical(mavlink_fd, "GPS signal noisy");
set_tune_override(TONE_GPS_WARNING_TUNE);
//GPS suffers from signal jamming or excessive noise, disable GPS-aided flight
status.gps_failure = true;
status_changed = true;
}
}
} else {
if (!status.gps_failure) {
if (gps_position.fix_type >= 3 && hrt_elapsed_time(&gps_position.timestamp_position) < FAILSAFE_DEFAULT_TIMEOUT) {
/* handle the case where gps was regained */
if (status.gps_failure && !gpsIsNoisy) {
status.gps_failure = false;
status_changed = true;
mavlink_log_critical(mavlink_fd, "gps regained");
}
} else if (!status.gps_failure) {
status.gps_failure = true;
status_changed = true;
mavlink_log_critical(mavlink_fd, "gps fix lost");