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AP_GPS: Fix novatel driver to handle DOP correctly, and fix overly optimistic horizontal accuracy estimate

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Michael du Breuil 2022-09-22 11:03:47 -07:00 committed by Andrew Tridgell
parent 812128125b
commit 6b0dd7e689
2 changed files with 6 additions and 8 deletions
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12
libraries/AP_GPS/AP_GPS_NOVA.cpp
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@ -59,13 +59,11 @@ AP_GPS_NOVA::AP_GPS_NOVA(AP_GPS &_gps, AP_GPS::GPS_State &_state,
} }
} }
const char* const AP_GPS_NOVA::_initialisation_blob[6] { const char* const AP_GPS_NOVA::_initialisation_blob[4] {
"\r\n\r\nunlogall\r\n", // cleanup enviroment "\r\n\r\nunlogall\r\n", // cleanup enviroment
"log bestposb ontime 0.2 0 nohold\r\n", // get bestpos "log bestposb ontime 0.2 0 nohold\r\n",
"log bestvelb ontime 0.2 0 nohold\r\n", // get bestvel "log bestvelb ontime 0.2 0 nohold\r\n",
"log psrdopb onchanged\r\n", // tersus "log psrdopb ontime 0.2 0 nohold\r\n",
"log psrdopb ontime 0.2\r\n", // comnav
"log psrdopb\r\n" // poll message, as dop only changes when a sat is dropped/added to the visible list
}; };
// Process all bytes available from the stream // Process all bytes available from the stream
@ -213,7 +211,7 @@ AP_GPS_NOVA::process_message(void)
state.num_sats = bestposu.svsused; state.num_sats = bestposu.svsused;
state.horizontal_accuracy = (float) ((bestposu.latsdev + bestposu.lngsdev)/2); state.horizontal_accuracy = norm(bestposu.latsdev, bestposu.lngsdev);
state.vertical_accuracy = (float) bestposu.hgtsdev; state.vertical_accuracy = (float) bestposu.hgtsdev;
state.have_horizontal_accuracy = true; state.have_horizontal_accuracy = true;
state.have_vertical_accuracy = true; state.have_vertical_accuracy = true;

2
libraries/AP_GPS/AP_GPS_NOVA.h
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@ -55,7 +55,7 @@ private:
uint8_t _init_blob_index = 0; uint8_t _init_blob_index = 0;
uint32_t _init_blob_time = 0; uint32_t _init_blob_time = 0;
static const char* const _initialisation_blob[6]; static const char* const _initialisation_blob[4];
uint32_t crc_error_counter = 0; uint32_t crc_error_counter = 0;