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Code Issues Releases Activity

LP-536 make pretty

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Jan NIJS 2017-06-23 23:47:16 +02:00
parent a61d87243e
commit 12062a5c7d
3 changed files with 21 additions and 20 deletions
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35
flight/modules/GPS/GPS.c
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@ -109,12 +109,14 @@ void updateGpsSettings(__attribute__((unused)) UAVObjEvent *ev);
// GPS_READ_BUFFER is defined a few lines below in this file. // GPS_READ_BUFFER is defined a few lines below in this file.
// //
// 57600 bps = 5760 bytes per second // 57600 bps = 5760 bytes per second
//
// For 32 bytes buffer: this is a maximum of 5760/32 = 180 buffers per second // For 32 bytes buffer: this is a maximum of 5760/32 = 180 buffers per second
// that is 1/180 = 0.0056 seconds per packet // that is 1/180 = 0.0056 seconds per packet
// We must never wait more than 5ms since packet was last drained or it may overflow // We must never wait more than 5ms since packet was last drained or it may overflow
//
// For 128 bytes buffer: this is a maximum of 5760/128 = 45 buffers per second // For 128 bytes buffer: this is a maximum of 5760/128 = 45 buffers per second
// that is 1/45 = 0.022 seconds per packet // that is 1/45 = 0.022 seconds per packet
// We must never wait more than 22ms since packet was last drained or it may overflow // We must never wait more than 22ms since packet was last drained or it may overflow
// There are two delays in play for the GPS task: // There are two delays in play for the GPS task:
// - GPS_BLOCK_ON_NO_DATA_MS is the time to block while waiting to receive serial data from the GPS // - GPS_BLOCK_ON_NO_DATA_MS is the time to block while waiting to receive serial data from the GPS
@ -124,31 +126,31 @@ void updateGpsSettings(__attribute__((unused)) UAVObjEvent *ev);
// are run often enough. // are run often enough.
// GPS_LOOP_DELAY_MS on the other hand, should be less then 5.55 ms. A value set too high will cause data to be dropped. // GPS_LOOP_DELAY_MS on the other hand, should be less then 5.55 ms. A value set too high will cause data to be dropped.
#define GPS_LOOP_DELAY_MS 5 #define GPS_LOOP_DELAY_MS 5
#define GPS_BLOCK_ON_NO_DATA_MS 20 #define GPS_BLOCK_ON_NO_DATA_MS 20
#ifdef PIOS_GPS_SETS_HOMELOCATION #ifdef PIOS_GPS_SETS_HOMELOCATION
// Unfortunately need a good size stack for the WMM calculation // Unfortunately need a good size stack for the WMM calculation
#define STACK_SIZE_BYTES 1024 #define STACK_SIZE_BYTES 1024
#else #else
#if defined(PIOS_GPS_MINIMAL) #if defined(PIOS_GPS_MINIMAL)
#define GPS_READ_BUFFER 32 #define GPS_READ_BUFFER 32
#ifdef PIOS_INCLUDE_GPS_NMEA_PARSER #ifdef PIOS_INCLUDE_GPS_NMEA_PARSER
#define STACK_SIZE_BYTES 580 // NMEA #define STACK_SIZE_BYTES 580 // NMEA
#else // PIOS_INCLUDE_GPS_NMEA_PARSER #else // PIOS_INCLUDE_GPS_NMEA_PARSER
#define STACK_SIZE_BYTES 440 // UBX #define STACK_SIZE_BYTES 440 // UBX
#endif // PIOS_INCLUDE_GPS_NMEA_PARSER #endif // PIOS_INCLUDE_GPS_NMEA_PARSER
#else // PIOS_GPS_MINIMAL #else // PIOS_GPS_MINIMAL
#define STACK_SIZE_BYTES 650 #define STACK_SIZE_BYTES 650
#endif // PIOS_GPS_MINIMAL #endif // PIOS_GPS_MINIMAL
#endif // PIOS_GPS_SETS_HOMELOCATION #endif // PIOS_GPS_SETS_HOMELOCATION
#ifndef GPS_READ_BUFFER #ifndef GPS_READ_BUFFER
#define GPS_READ_BUFFER 128 #define GPS_READ_BUFFER 128
#endif #endif
#define TASK_PRIORITY (tskIDLE_PRIORITY + 1) #define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
// **************** // ****************
// Private variables // Private variables
@ -304,8 +306,7 @@ MODULE_INITCALL(GPSInitialize, GPSStart);
static void gpsTask(__attribute__((unused)) void *parameters) static void gpsTask(__attribute__((unused)) void *parameters)
{ {
uint32_t timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
uint32_t timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
#ifdef PIOS_GPS_SETS_HOMELOCATION #ifdef PIOS_GPS_SETS_HOMELOCATION
portTickType homelocationSetDelay = 0; portTickType homelocationSetDelay = 0;

4
flight/modules/GPS/UBX.c
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@ -192,8 +192,8 @@ int parse_ubx_stream(uint8_t *rx, uint16_t len, char *gps_rx_buffer, GPSPosition
The recommendation is to limit the maximum number of simultaneously used GNSS to a value of 2. The recommendation is to limit the maximum number of simultaneously used GNSS to a value of 2.
This will help keep the number of tracked satellites in line. This will help keep the number of tracked satellites in line.
*/ */
if ( (ubx->header.class == 0x01) && ( (ubx->header.id == 0x30) || (ubx->header.id == 0x35) ) ) { if ((ubx->header.class == 0x01) && ((ubx->header.id == 0x30) || (ubx->header.id == 0x35))) {
restart_state = RESTART_NO_ERROR; restart_state = RESTART_NO_ERROR;
} else { } else {
restart_state = RESTART_WITH_ERROR; restart_state = RESTART_WITH_ERROR;

2
flight/modules/StateEstimation/filterlla.c
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@ -104,7 +104,7 @@ static filterResult filter(__attribute__((unused)) stateFilter *self, stateEstim
// check if we have a valid GPS signal (not checked by StateEstimation istelf) // check if we have a valid GPS signal (not checked by StateEstimation istelf)
if ((gpsdata.PDOP < this->settings.MaxPDOP) && (gpsdata.Satellites >= this->settings.MinSatellites) && if ((gpsdata.PDOP < this->settings.MaxPDOP) && (gpsdata.Satellites >= this->settings.MinSatellites) &&
((gpsdata.Status == GPSPOSITIONSENSOR_STATUS_FIX3D) || (gpsdata.Status == GPSPOSITIONSENSOR_STATUS_FIX3DDGNSS))&& ((gpsdata.Status == GPSPOSITIONSENSOR_STATUS_FIX3D) || (gpsdata.Status == GPSPOSITIONSENSOR_STATUS_FIX3DDGNSS)) &&
(gpsdata.Latitude != 0 || gpsdata.Longitude != 0)) { (gpsdata.Latitude != 0 || gpsdata.Longitude != 0)) {
int32_t LLAi[3] = { int32_t LLAi[3] = {
gpsdata.Latitude, gpsdata.Latitude,