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AP_GPS: Set unknown DOP's to UINT16_MAX, rather then 9999

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This fixes the MAVLink reporting for unknown dops, and avoids the situation where a GPS driver could report a worse DOP then we could handle.

Also corrects an apparent error in the HIL_GPS MAVLink message, where we would always select the unknown dop value rather then provided DOP.
This commit is contained in:
Michael du Breuil 2017-05-24 12:19:10 -07:00 committed by Tom Pittenger
parent 70ed572476
commit c7a89d5aa0
3 changed files with 11 additions and 10 deletions
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16
libraries/AP_GPS/AP_GPS.cpp
View File

@ -446,8 +446,8 @@ void AP_GPS::detect_instance(uint8_t instance)
state[instance].instance = instance;
state[instance].status = NO_GPS;
state[instance].hdop = 9999;
state[instance].vdop = 9999;
state[instance].hdop = GPS_UNKNOWN_DOP;
state[instance].vdop = GPS_UNKNOWN_DOP;
switch (_type[instance]) {
// by default the sbf/trimble gps outputs no data on its port, until configured.
@ -578,8 +578,8 @@ void AP_GPS::update_instance(uint8_t instance)
if (_type[instance] == GPS_TYPE_NONE) {
// not enabled
state[instance].status = NO_GPS;
state[instance].hdop = 9999;
state[instance].vdop = 9999;
state[instance].hdop = GPS_UNKNOWN_DOP;
state[instance].vdop = GPS_UNKNOWN_DOP;
return;
}
if (locked_ports & (1U<<instance)) {
@ -614,8 +614,8 @@ void AP_GPS::update_instance(uint8_t instance)
memset(&state[instance], 0, sizeof(state[instance]));
state[instance].instance = instance;
state[instance].status = NO_GPS;
state[instance].hdop = 9999;
state[instance].vdop = 9999;
state[instance].hdop = GPS_UNKNOWN_DOP;
state[instance].vdop = GPS_UNKNOWN_DOP;
timing[instance].last_message_time_ms = tnow;
}
} else {
@ -1255,8 +1255,8 @@ void AP_GPS::calc_blended_state(void)
state[GPS_BLENDED_INSTANCE].time_week = 0;
state[GPS_BLENDED_INSTANCE].ground_speed = 0.0f;
state[GPS_BLENDED_INSTANCE].ground_course = 0.0f;
state[GPS_BLENDED_INSTANCE].hdop = 9999;
state[GPS_BLENDED_INSTANCE].vdop = 9999;
state[GPS_BLENDED_INSTANCE].hdop = GPS_UNKNOWN_DOP;
state[GPS_BLENDED_INSTANCE].vdop = GPS_UNKNOWN_DOP;
state[GPS_BLENDED_INSTANCE].num_sats = 0;
state[GPS_BLENDED_INSTANCE].velocity.zero();
state[GPS_BLENDED_INSTANCE].speed_accuracy = 1e6f;

1
libraries/AP_GPS/AP_GPS.h
View File

@ -32,6 +32,7 @@
#define GPS_BLENDED_INSTANCE GPS_MAX_RECEIVERS // the virtual blended GPS is always the highest instance (2)
#define GPS_RTK_INJECT_TO_ALL 127
#define GPS_MAX_RATE_MS 200 // maximum value of rate_ms (i.e. slowest update rate) is 5hz or 200ms
#define GPS_UNKNOWN_DOP UINT16_MAX // set unknown DOP's to maximum value, which is also correct for MAVLink
// the number of GPS leap seconds
#define GPS_LEAPSECONDS_MILLIS 18000ULL

4
libraries/AP_GPS/AP_GPS_MAV.cpp
View File

@ -123,8 +123,8 @@ void AP_GPS_MAV::handle_msg(const mavlink_message_t *msg)
loc.alt = packet.alt;
state.location = loc;
state.location.options = 0;
state.hdop = MAX(packet.eph, 9999);
state.vdop = MAX(packet.epv, 9999);
state.hdop = MIN(packet.eph, GPS_UNKNOWN_DOP);
state.vdop = MIN(packet.epv, GPS_UNKNOWN_DOP);
if (packet.vel < 65535) {
state.ground_speed = packet.vel / 100.0f;
}