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AP_GPS: log fragments used/fragments discarded for RTCM injection data

This commit is contained in:
Peter Barker 2022-09-22 15:30:29 +10:00 committed by Andrew Tridgell
parent 2fe552811d
commit a16c9cf64e
3 changed files with 14 additions and 1 deletions
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4
libraries/AP_GPS/AP_GPS.cpp
View File

@ -1584,6 +1584,7 @@ void AP_GPS::handle_gps_rtcm_fragment(uint8_t flags, const uint8_t *data, uint8_
// we have one or more partial fragments already received
// which conflict with the new fragment, discard previous fragments
rtcm_buffer->fragment_count = 0;
rtcm_stats.fragments_discarded += rtcm_buffer->fragments_received;
rtcm_buffer->fragments_received = 0;
}
@ -1612,6 +1613,7 @@ void AP_GPS::handle_gps_rtcm_fragment(uint8_t flags, const uint8_t *data, uint8_
if (rtcm_buffer->fragment_count != 0 &&
rtcm_buffer->fragments_received == (1U << rtcm_buffer->fragment_count) - 1) {
// we have them all, inject
rtcm_stats.fragments_used += rtcm_buffer->fragments_received;
inject_data(rtcm_buffer->buffer, rtcm_buffer->total_length);
rtcm_buffer->fragment_count = 0;
rtcm_buffer->fragments_received = 0;
@ -2252,6 +2254,8 @@ void AP_GPS::Write_GPS(uint8_t i)
sample_ms : last_message_time_ms(i),
delta_ms : last_message_delta_time_ms(i),
undulation : undulation,
rtcm_fragments_used: rtcm_stats.fragments_used,
rtcm_fragments_discarded: rtcm_stats.fragments_discarded
};
AP::logger().WriteBlock(&pkt2, sizeof(pkt2));
}

5
libraries/AP_GPS/AP_GPS.h
View File

@ -717,6 +717,11 @@ private:
uint8_t buffer[MAVLINK_MSG_GPS_RTCM_DATA_FIELD_DATA_LEN*4];
} *rtcm_buffer;
struct {
uint16_t fragments_used;
uint16_t fragments_discarded;
} rtcm_stats;
// re-assemble GPS_RTCM_DATA message
void handle_gps_rtcm_data(const mavlink_message_t &msg);
void handle_gps_inject(const mavlink_message_t &msg);

6
libraries/AP_GPS/LogStructure.h
View File

@ -63,6 +63,8 @@ struct PACKED log_GPS {
// @Field: SMS: time since system startup this sample was taken
// @Field: Delta: system time delta between the last two reported positions
// @Field: Und: Undulation
// @Field: RTCMFU: RTCM fragments used
// @Field: RTCMFD: RTCM fragments discarded
struct PACKED log_GPA {
LOG_PACKET_HEADER;
uint64_t time_us;
@ -76,6 +78,8 @@ struct PACKED log_GPA {
uint32_t sample_ms;
uint16_t delta_ms;
float undulation;
uint16_t rtcm_fragments_used;
uint16_t rtcm_fragments_discarded;
};
/*
@ -202,7 +206,7 @@ struct PACKED log_GPS_RAWS {
{ LOG_GPS_MSG, sizeof(log_GPS), \
"GPS", "QBBIHBcLLeffffB", "TimeUS,I,Status,GMS,GWk,NSats,HDop,Lat,Lng,Alt,Spd,GCrs,VZ,Yaw,U", "s#---SmDUmnhnh-", "F----0BGGB000--" , true }, \
{ LOG_GPA_MSG, sizeof(log_GPA), \
"GPA", "QBCCCCfBIHf", "TimeUS,I,VDop,HAcc,VAcc,SAcc,YAcc,VV,SMS,Delta,Und", "s#mmmnd-ssm", "F-BBBB0-CC0" , true }, \
"GPA", "QBCCCCfBIHfHH", "TimeUS,I,VDop,HAcc,VAcc,SAcc,YAcc,VV,SMS,Delta,Und,RTCMFU,RTCMFD", "s#mmmnd-ssm--", "F-BBBB0-CC0--" , true }, \
{ LOG_GPS_UBX1_MSG, sizeof(log_Ubx1), \
"UBX1", "QBHBBHI", "TimeUS,Instance,noisePerMS,jamInd,aPower,agcCnt,config", "s#-----", "F------" , true }, \
{ LOG_GPS_UBX2_MSG, sizeof(log_Ubx2), \