rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-02-20 10:54:14 +01:00
Code Issues Releases Activity

Report GPS NO_FIX status only once per message set and not with every

Browse Source 
single message.
This commit is contained in:
Werner Backes 2012-07-20 00:23:05 +02:00
parent d3962f3303
commit 6db2c949a3
1 changed files with 11 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
flight/Modules/GPS/NMEA.c
View File

@ -426,12 +426,15 @@ bool NMEA_update_position(char *nmea_sentence, GPSPositionData *GpsData)
if (!parser->handler(GpsData, &gpsDataUpdated, params, nbParams)) {
// Parse failed
DEBUG_MSG("PARSE FAILED (\"%s\")\n", params[0]);
if (gpsDataUpdated && (GpsData->Status == GPSPOSITION_STATUS_NOFIX)) {
GPSPositionSet(GpsData);
}
return false;
}
// All is fine :) Update object if data has changed
if (gpsDataUpdated || (GpsData->Status == GPSPOSITION_STATUS_NOFIX)) {
if (gpsDataUpdated) {
#ifdef DEBUG_MGSID_IN
DEBUG_MSG("U");
#endif
@ -469,6 +472,13 @@ static bool nmeaProcessGPGGA(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
*gpsDataUpdated = true;
// check for invalid GPS fix
// do this first to make sure we get this information, even if later checks exit
// this function early
if (param[6][0] == '0') {
GpsData->Status = GPSPOSITION_STATUS_NOFIX; // treat invalid fix as NOFIX
}
// get latitude [DDMM.mmmmm] [N|S]
if (!NMEA_latlon_to_fixed_point(&GpsData->Latitude, param[2], param[3][0] == 'S')) {
return false;
@ -479,12 +489,6 @@ static bool nmeaProcessGPGGA(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
return false;
}
// check for invalid GPS fix
if (param[6][0] == '0') {
// return false;
GpsData->Status = GPSPOSITION_STATUS_NOFIX; // treat invalid fix as NOFIX
}
// get number of satellites used in GPS solution
GpsData->Satellites = atoi(param[7]);