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AP_NavEKF3: Change the if statement to a switch statement.
This commit is contained in:
murata
Francisco Ferreira
parent
a3e9f72b0b
commit
6a87840c7a
@ -203,97 +203,103 @@ void NavEKF3_core::setAidingMode()
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checkGyroCalStatus();
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// Determine if we should change aiding mode
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if (PV_AidingMode == AID_NONE) {
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// Don't allow filter to start position or velocity aiding until the tilt and yaw alignment is complete
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// and IMU gyro bias estimates have stabilised
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// If GPS usage has been prohiited then we use flow aiding provided optical flow data is present
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// GPS aiding is the preferred option unless excluded by the user
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if(readyToUseGPS() || readyToUseRangeBeacon()) {
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PV_AidingMode = AID_ABSOLUTE;
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} else if (readyToUseOptFlow() || readyToUseBodyOdm()) {
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PV_AidingMode = AID_RELATIVE;
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switch (PV_AidingMode) {
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case AID_NONE: {
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// Don't allow filter to start position or velocity aiding until the tilt and yaw alignment is complete
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// and IMU gyro bias estimates have stabilised
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// If GPS usage has been prohiited then we use flow aiding provided optical flow data is present
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// GPS aiding is the preferred option unless excluded by the user
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if(readyToUseGPS() || readyToUseRangeBeacon()) {
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PV_AidingMode = AID_ABSOLUTE;
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} else if (readyToUseOptFlow() || readyToUseBodyOdm()) {
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PV_AidingMode = AID_RELATIVE;
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}
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break;
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}
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} else if (PV_AidingMode == AID_RELATIVE) {
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// Check if the fusion has timed out (flow measurements have been rejected for too long)
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bool flowFusionTimeout = ((imuSampleTime_ms - prevFlowFuseTime_ms) > 5000);
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// Check if the fusion has timed out (body odometry measurements have been rejected for too long)
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bool bodyOdmFusionTimeout = ((imuSampleTime_ms - prevBodyVelFuseTime_ms) > 5000);
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// Enable switch to absolute position mode if GPS or range beacon data is available
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// If GPS or range beacons data is not available and flow fusion has timed out, then fall-back to no-aiding
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if(readyToUseGPS() || readyToUseRangeBeacon()) {
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PV_AidingMode = AID_ABSOLUTE;
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} else if (flowFusionTimeout && bodyOdmFusionTimeout) {
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PV_AidingMode = AID_NONE;
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}
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} else if (PV_AidingMode == AID_ABSOLUTE) {
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// Find the minimum time without data required to trigger any check
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uint16_t minTestTime_ms = MIN(frontend->tiltDriftTimeMax_ms, MIN(frontend->posRetryTimeNoVel_ms,frontend->posRetryTimeUseVel_ms));
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case AID_RELATIVE: {
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// Check if the fusion has timed out (flow measurements have been rejected for too long)
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bool flowFusionTimeout = ((imuSampleTime_ms - prevFlowFuseTime_ms) > 5000);
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// Check if the fusion has timed out (body odometry measurements have been rejected for too long)
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bool bodyOdmFusionTimeout = ((imuSampleTime_ms - prevBodyVelFuseTime_ms) > 5000);
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// Enable switch to absolute position mode if GPS or range beacon data is available
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// If GPS or range beacons data is not available and flow fusion has timed out, then fall-back to no-aiding
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if(readyToUseGPS() || readyToUseRangeBeacon()) {
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PV_AidingMode = AID_ABSOLUTE;
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} else if (flowFusionTimeout && bodyOdmFusionTimeout) {
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PV_AidingMode = AID_NONE;
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}
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break;
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}
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case AID_ABSOLUTE: {
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// Find the minimum time without data required to trigger any check
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uint16_t minTestTime_ms = MIN(frontend->tiltDriftTimeMax_ms, MIN(frontend->posRetryTimeNoVel_ms,frontend->posRetryTimeUseVel_ms));
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// Check if optical flow data is being used
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bool optFlowUsed = (imuSampleTime_ms - prevFlowFuseTime_ms <= minTestTime_ms);
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// Check if optical flow data is being used
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bool optFlowUsed = (imuSampleTime_ms - prevFlowFuseTime_ms <= minTestTime_ms);
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// Check if body odometry data is being used
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bool bodyOdmUsed = (imuSampleTime_ms - prevBodyVelFuseTime_ms <= minTestTime_ms);
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// Check if body odometry data is being used
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bool bodyOdmUsed = (imuSampleTime_ms - prevBodyVelFuseTime_ms <= minTestTime_ms);
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// Check if airspeed data is being used
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bool airSpdUsed = (imuSampleTime_ms - lastTasPassTime_ms <= minTestTime_ms);
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// Check if airspeed data is being used
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bool airSpdUsed = (imuSampleTime_ms - lastTasPassTime_ms <= minTestTime_ms);
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// Check if range beacon data is being used
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bool rngBcnUsed = (imuSampleTime_ms - lastRngBcnPassTime_ms <= minTestTime_ms);
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// Check if range beacon data is being used
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bool rngBcnUsed = (imuSampleTime_ms - lastRngBcnPassTime_ms <= minTestTime_ms);
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// Check if GPS is being used
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bool gpsPosUsed = (imuSampleTime_ms - lastPosPassTime_ms <= minTestTime_ms);
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bool gpsVelUsed = (imuSampleTime_ms - lastVelPassTime_ms <= minTestTime_ms);
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// Check if GPS is being used
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bool gpsPosUsed = (imuSampleTime_ms - lastPosPassTime_ms <= minTestTime_ms);
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bool gpsVelUsed = (imuSampleTime_ms - lastVelPassTime_ms <= minTestTime_ms);
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// Check if attitude drift has been constrained by a measurement source
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bool attAiding = gpsPosUsed || gpsVelUsed || optFlowUsed || airSpdUsed || rngBcnUsed || bodyOdmUsed;
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// Check if attitude drift has been constrained by a measurement source
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bool attAiding = gpsPosUsed || gpsVelUsed || optFlowUsed || airSpdUsed || rngBcnUsed || bodyOdmUsed;
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// check if velocity drift has been constrained by a measurement source
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bool velAiding = gpsVelUsed || airSpdUsed || optFlowUsed || bodyOdmUsed;
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// check if velocity drift has been constrained by a measurement source
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bool velAiding = gpsVelUsed || airSpdUsed || optFlowUsed || bodyOdmUsed;
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// check if position drift has been constrained by a measurement source
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bool posAiding = gpsPosUsed || rngBcnUsed;
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// check if position drift has been constrained by a measurement source
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bool posAiding = gpsPosUsed || rngBcnUsed;
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// Check if the loss of attitude aiding has become critical
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bool attAidLossCritical = false;
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if (!attAiding) {
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attAidLossCritical = (imuSampleTime_ms - prevFlowFuseTime_ms > frontend->tiltDriftTimeMax_ms) &&
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(imuSampleTime_ms - lastTasPassTime_ms > frontend->tiltDriftTimeMax_ms) &&
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(imuSampleTime_ms - lastRngBcnPassTime_ms > frontend->tiltDriftTimeMax_ms) &&
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(imuSampleTime_ms - lastPosPassTime_ms > frontend->tiltDriftTimeMax_ms) &&
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(imuSampleTime_ms - lastVelPassTime_ms > frontend->tiltDriftTimeMax_ms);
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}
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// Check if the loss of attitude aiding has become critical
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bool attAidLossCritical = false;
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if (!attAiding) {
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attAidLossCritical = (imuSampleTime_ms - prevFlowFuseTime_ms > frontend->tiltDriftTimeMax_ms) &&
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(imuSampleTime_ms - lastTasPassTime_ms > frontend->tiltDriftTimeMax_ms) &&
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(imuSampleTime_ms - lastRngBcnPassTime_ms > frontend->tiltDriftTimeMax_ms) &&
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(imuSampleTime_ms - lastPosPassTime_ms > frontend->tiltDriftTimeMax_ms) &&
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(imuSampleTime_ms - lastVelPassTime_ms > frontend->tiltDriftTimeMax_ms);
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}
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// Check if the loss of position accuracy has become critical
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bool posAidLossCritical = false;
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if (!posAiding ) {
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uint16_t maxLossTime_ms;
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if (!velAiding) {
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maxLossTime_ms = frontend->posRetryTimeNoVel_ms;
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} else {
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maxLossTime_ms = frontend->posRetryTimeUseVel_ms;
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}
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posAidLossCritical = (imuSampleTime_ms - lastRngBcnPassTime_ms > maxLossTime_ms) &&
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(imuSampleTime_ms - lastPosPassTime_ms > maxLossTime_ms);
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}
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// Check if the loss of position accuracy has become critical
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bool posAidLossCritical = false;
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if (!posAiding ) {
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uint16_t maxLossTime_ms;
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if (!velAiding) {
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maxLossTime_ms = frontend->posRetryTimeNoVel_ms;
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} else {
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maxLossTime_ms = frontend->posRetryTimeUseVel_ms;
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}
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posAidLossCritical = (imuSampleTime_ms - lastRngBcnPassTime_ms > maxLossTime_ms) &&
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(imuSampleTime_ms - lastPosPassTime_ms > maxLossTime_ms);
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}
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if (attAidLossCritical) {
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// if the loss of attitude data is critical, then put the filter into a constant position mode
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PV_AidingMode = AID_NONE;
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posTimeout = true;
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velTimeout = true;
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rngBcnTimeout = true;
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tasTimeout = true;
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gpsNotAvailable = true;
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} else if (posAidLossCritical) {
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// if the loss of position is critical, declare all sources of position aiding as being timed out
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posTimeout = true;
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velTimeout = true;
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rngBcnTimeout = true;
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gpsNotAvailable = true;
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}
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}
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if (attAidLossCritical) {
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// if the loss of attitude data is critical, then put the filter into a constant position mode
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PV_AidingMode = AID_NONE;
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posTimeout = true;
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velTimeout = true;
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rngBcnTimeout = true;
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tasTimeout = true;
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gpsNotAvailable = true;
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} else if (posAidLossCritical) {
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// if the loss of position is critical, declare all sources of position aiding as being timed out
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posTimeout = true;
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velTimeout = true;
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rngBcnTimeout = true;
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gpsNotAvailable = true;
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}
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break;
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}
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}
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// check to see if we are starting or stopping aiding and set states and modes as required
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if (PV_AidingMode != PV_AidingModePrev) {
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