U-blox driver rework, step 2

Moved satellite info from vehicle_gps_position_s into a new uORB topic
satellite_info.
Renamed satellites_visible to satellites_used to reflect true content.
sdlog2 will log info for GPS satellites only for now.

5 files changed, 6 insertions, 11 deletions

diff --git a/src/drivers/blinkm/blinkm.cpp b/src/drivers/blinkm/blinkm.cpp
index 5c502f682..39bf1fcfc 100644
--- a/src/drivers/blinkm/blinkm.cpp
+++ b/src/drivers/blinkm/blinkm.cpp
@@ -559,13 +559,7 @@ BlinkM::led()
 		}
 
 		/* get number of used satellites in navigation */
-		num_of_used_sats = 0;
-
-		for(unsigned satloop=0; satloop<sizeof(vehicle_gps_position_raw.satellite_used); satloop++) {
-			if(vehicle_gps_position_raw.satellite_used[satloop] == 1) {
-				num_of_used_sats++;
-			}
-		}
+		num_of_used_sats = vehicle_gps_position_raw.satellites_used;
 
 		if (new_data_vehicle_status || no_data_vehicle_status < 3) {
 			if (num_of_cells == 0) {
diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
index 5342ccf78..d2ffc30ba 100644
--- a/src/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
@@ -449,7 +449,7 @@ GPS::print_info()
 
 	if (_report.timestamp_position != 0) {
 		warnx("position lock: %dD, satellites: %d, last update: %8.4fms ago", (int)_report.fix_type,
-				_report.satellites_visible, (double)(hrt_absolute_time() - _report.timestamp_position) / 1000.0f);
+				_report.satellites_used, (double)(hrt_absolute_time() - _report.timestamp_position) / 1000.0f);
 		warnx("lat: %d, lon: %d, alt: %d", _report.lat, _report.lon, _report.alt);
 		warnx("eph: %.2fm, epv: %.2fm", (double)_report.eph_m, (double)_report.epv_m);
 		warnx("rate position: \t%6.2f Hz", (double)_Helper->get_position_update_rate());
diff --git a/src/drivers/gps/mtk.cpp b/src/drivers/gps/mtk.cpp
index 680f00d97..7b957e55d 100644
--- a/src/drivers/gps/mtk.cpp
+++ b/src/drivers/gps/mtk.cpp
@@ -263,7 +263,7 @@ MTK::handle_message(gps_mtk_packet_t &packet)
 	_gps_position->epv_m = _gps_position->eph_m; // unknown in mtk custom mode, so we cheat with eph
 	_gps_position->vel_m_s = ((float)packet.ground_speed) * 1e-2f; // from cm/s to m/s
 	_gps_position->cog_rad = ((float)packet.heading) * M_DEG_TO_RAD_F * 1e-2f; //from deg *100 to rad
-	_gps_position->satellites_visible = packet.satellites;
+	_gps_position->satellites_used = packet.satellites;
 
 	/* convert time and date information to unix timestamp */
 	struct tm timeinfo; //TODO: test this conversion
diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp
index d7e9454ae..462875b6c 100644
--- a/src/drivers/gps/ubx.cpp
+++ b/src/drivers/gps/ubx.cpp
@@ -55,6 +55,7 @@
 #include <systemlib/err.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_gps_position.h>
+#include <uORB/topics/satellite_info.h>
 #include <drivers/drv_hrt.h>
 
 #include "ubx.h"
@@ -451,7 +452,7 @@ UBX::handle_message()
 					_gps_position->s_variance_m_s = packet->sAcc;
 					_gps_position->p_variance_m = packet->pAcc;
 					_gps_position->timestamp_variance = hrt_absolute_time();
-					_gps_position->satellites_visible = packet->numSV;
+					_gps_position->satellites_used = packet->numSV;
 
 					ret = 1;
 					break;
diff --git a/src/drivers/hott/messages.cpp b/src/drivers/hott/messages.cpp
index 1e779e8dc..086132573 100644
--- a/src/drivers/hott/messages.cpp
+++ b/src/drivers/hott/messages.cpp
@@ -226,7 +226,7 @@ build_gps_response(uint8_t *buffer, size_t *size)
 	msg.sensor_id = GPS_SENSOR_ID;
 	msg.sensor_text_id = GPS_SENSOR_TEXT_ID;
 
-	msg.gps_num_sat = gps.satellites_visible;
+	msg.gps_num_sat = gps.satellites_used;
 
 	/* The GPS fix type: 0 = none, 2 = 2D, 3 = 3D */
 	msg.gps_fix_char = (uint8_t)(gps.fix_type + 48);