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Code Issues Releases Activity

OP-1370 - Fixes parameters name, values and cosmetic issues.

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This commit is contained in:
Alessio Morale 2014-09-02 21:26:43 +02:00
parent 78662eb356
commit 2ddbb72bcf
4 changed files with 31 additions and 32 deletions
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6
flight/modules/GPS/GPS.c
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@ -300,7 +300,7 @@ static void gpsTask(__attribute__((unused)) void *parameters)
// we appear to be receiving GPS sentences OK, we've had an update
// criteria for GPS-OK taken from this post...
// http://forums.openpilot.org/topic/1523-professors-insgps-in-svn/page__view__findpost__p__5220
if ((gpspositionsensor.PDOP < gpsSettings.MaxPDOP) && (gpspositionsensor.Satellites >= gpsSettings.MinSattelites) &&
if ((gpspositionsensor.PDOP < gpsSettings.MaxPDOP) && (gpspositionsensor.Satellites >= gpsSettings.MinSatellites) &&
(gpspositionsensor.Status == GPSPOSITIONSENSOR_STATUS_FIX3D) &&
(gpspositionsensor.Latitude != 0 || gpspositionsensor.Longitude != 0)) {
AlarmsClear(SYSTEMALARMS_ALARM_GPS);
@ -442,9 +442,9 @@ void updateGpsSettings(__attribute__((unused)) UAVObjEvent *ev)
GPSSettingsUBXAutoConfigGet(&ubxAutoConfig);
GPSSettingsUBXRateGet(&newconfig.navRate);
GPSSettingsUBXDynamicModelGet(&ubxDynamicModel);
newconfig.autoconfigEnabled = ubxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_DISABLED ? false : true;
newconfig.storeSettings = ubxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_CONFIGUREANDSTORE;
newconfig.autoconfigEnabled = ubxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_FALSE ? false : true;
newconfig.storeSettings = ubxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_STORE;
newconfig.dynamicModel = ubxDynamicModel == GPSSETTINGS_UBXDYNAMICMODEL_PORTABLE ? UBX_DYNMODEL_PORTABLE :
ubxDynamicModel == GPSSETTINGS_UBXDYNAMICMODEL_STATIONARY ? UBX_DYNMODEL_STATIONARY :
ubxDynamicModel == GPSSETTINGS_UBXDYNAMICMODEL_PEDESTRIAN ? UBX_DYNMODEL_PEDESTRIAN :

40
flight/modules/GPS/ubx_autoconfig.c
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@ -55,30 +55,30 @@ typedef struct {
ubx_cfg_msg_t msg_config_ubx6[] = {
// messages to disable
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_CLOCK, .rate = 0 },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_POSECEF, .rate = 0 },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_SBAS, .rate = 0 },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_TIMEGPS, .rate = 0 },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_VELECEF, .rate = 0 },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_CLOCK, .rate = 0 },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_POSECEF, .rate = 0 },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_SBAS, .rate = 0 },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_TIMEGPS, .rate = 0 },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_VELECEF, .rate = 0 },
{ .msgClass = UBX_CLASS_MON, .msgID = UBX_ID_MON_HW, .rate = 0 },
{ .msgClass = UBX_CLASS_MON, .msgID = UBX_ID_MON_HW2, .rate = 0 },
{ .msgClass = UBX_CLASS_MON, .msgID = UBX_ID_MON_IO, .rate = 0 },
{ .msgClass = UBX_CLASS_MON, .msgID = UBX_ID_MON_MSGPP, .rate = 0 },
{ .msgClass = UBX_CLASS_MON, .msgID = UBX_ID_MON_RXBUFF, .rate = 0 },
{ .msgClass = UBX_CLASS_MON, .msgID = UBX_ID_MON_RXR, .rate = 0 },
{ .msgClass = UBX_CLASS_MON, .msgID = UBX_ID_MON_TXBUF, .rate = 0 },
{ .msgClass = UBX_CLASS_MON, .msgID = UBX_ID_MON_HW, .rate = 0 },
{ .msgClass = UBX_CLASS_MON, .msgID = UBX_ID_MON_HW2, .rate = 0 },
{ .msgClass = UBX_CLASS_MON, .msgID = UBX_ID_MON_IO, .rate = 0 },
{ .msgClass = UBX_CLASS_MON, .msgID = UBX_ID_MON_MSGPP, .rate = 0 },
{ .msgClass = UBX_CLASS_MON, .msgID = UBX_ID_MON_RXBUFF, .rate = 0 },
{ .msgClass = UBX_CLASS_MON, .msgID = UBX_ID_MON_RXR, .rate = 0 },
{ .msgClass = UBX_CLASS_MON, .msgID = UBX_ID_MON_TXBUF, .rate = 0 },
{ .msgClass = UBX_CLASS_RXM, .msgID = UBX_ID_RXM_SVSI, .rate = 0 },
{ .msgClass = UBX_CLASS_RXM, .msgID = UBX_ID_RXM_SVSI, .rate = 0 },
// message to enable
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_POSLLH, .rate = 1 },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_DOP, .rate = 1 },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_SOL, .rate = 1 },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_STATUS, .rate = 1 },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_VELNED, .rate = 1 },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_TIMEUTC, .rate = 1 },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_SVINFO, .rate = 10 },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_POSLLH, .rate = 1 },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_DOP, .rate = 1 },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_SOL, .rate = 1 },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_STATUS, .rate = 1 },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_VELNED, .rate = 1 },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_TIMEUTC, .rate = 1 },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_SVINFO, .rate = 10 },
};
ubx_cfg_msg_t msg_config_ubx7[] = {

2
flight/modules/StateEstimation/filterlla.c
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@ -103,7 +103,7 @@ static filterResult filter(__attribute__((unused)) stateFilter *self, stateEstim
GPSPositionSensorGet(&gpsdata);
// check if we have a valid GPS signal (not checked by StateEstimation istelf)
if ((gpsdata.PDOP < this->settings.MaxPDOP) && (gpsdata.Satellites >= this->settings.MinSattelites) &&
if ((gpsdata.PDOP < this->settings.MaxPDOP) && (gpsdata.Satellites >= this->settings.MinSatellites) &&
(gpsdata.Status == GPSPOSITIONSENSOR_STATUS_FIX3D) &&
(gpsdata.Latitude != 0 || gpsdata.Longitude != 0)) {
int32_t LLAi[3] = {

15
shared/uavobjectdefinition/gpssettings.xml
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@ -2,17 +2,16 @@
<object name="GPSSettings" singleinstance="true" settings="true" category="Sensors">
<description>GPS Module specific settings</description>
<field name="DataProtocol" units="" type="enum" elements="1" options="NMEA,UBX" defaultvalue="UBX"/>
<field name="MinSattelites" units="" type="uint8" elements="1" defaultvalue="7"/>
<field name="MinSatellites" units="" type="uint8" elements="1" defaultvalue="7"/>
<field name="MaxPDOP" units="" type="float" elements="1" defaultvalue="3.5"/>
<!-- ubx self configuration. Enable to allow the flight board to auto configure ubx GPS options,
<!-- Ubx self configuration. Enable to allow the flight board to auto configure ubx GPS options,
store does AutoConfig and save GPS settings (i.e. to prevent issues if gps is power cycled) -->
<field name="UBXAutoConfig" units="" type="enum" elements="1" options="FALSE,TRUE,STORE" defaultvalue="FALSE"/>
<!-- ubx position rate, -1 for auto -->
<field name="UBXRate" units="Hz" type="int8" elements="1" defaultvalue="5" />
<!-- Ubx dynamic model, see UBX datasheet for more details -->
<field name="UBXDynamicModel" units="" type="enum" elements="1"
<field name="UbxAutoConfig" units="" type="enum" elements="1" options="Disabled,Configure,ConfigureAndStore" defaultvalue="Disabled"/>
<!-- Ubx position update rate, -1 for auto -->
<field name="UbxRate" units="Hz" type="int8" elements="1" defaultvalue="5" />
<!-- Ubx dynamic model, see UBX datasheet for more details -->
<field name="UbxDynamicModel" units="" type="enum" elements="1"
options="Portable,Stationary,Pedestrian,Automotive,Sea,Airborne1G,Airborne2G,Airborne4G" defaultvalue="Airborne1G" />
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>