From bdb2982ca58f671d4d36c0db00f74ab332b89c1b Mon Sep 17 00:00:00 2001
From: andrew <andrew>
Date: Mon, 27 Dec 2010 19:59:43 +0000
Subject: [PATCH]  Added alarm processing for GPS module.   Error when GPS
 disconnected   OK when >=7 satellites and PDOP <3.5   Warning when only 3Dfix
   Critical otherwise

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2297 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 flight/OpenPilot/Modules/GPS/GPS.c | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/flight/OpenPilot/Modules/GPS/GPS.c b/flight/OpenPilot/Modules/GPS/GPS.c
index 6dff24f53..2c29fc504 100644
--- a/flight/OpenPilot/Modules/GPS/GPS.c
+++ b/flight/OpenPilot/Modules/GPS/GPS.c
@@ -188,6 +188,7 @@ static void gpsTask(void *parameters)
 			GPSPositionGet(&GpsData);
 			GpsData.Status = GPSPOSITION_STATUS_NOGPS;
 			GPSPositionSet(&GpsData);
+			AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_ERROR);
 		} else {
 			// Had an update
 			HomeLocationData home;
@@ -197,6 +198,12 @@ static void gpsTask(void *parameters)
 			if ((GpsData.Status == GPSPOSITION_STATUS_FIX3D) && (home.Set == HOMELOCATION_SET_FALSE)) {
 				setHomeLocation(&GpsData);
 			}
+
+			//criteria for GPS-OK taken from this post...
+			//http://forums.openpilot.org/topic/1523-professors-insgps-in-svn/page__view__findpost__p__5220
+			if ((GpsData.PDOP<3.5)&&(GpsData.Satellites>=7))AlarmsClear(SYSTEMALARMS_ALARM_GPS);
+			else if (GpsData.Status == GPSPOSITION_STATUS_FIX3D) AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_WARNING);
+			else AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_CRITICAL);
 		}
 		
 		// Block task until next update