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author | Lorenz Meier <lorenz@px4.io> | 2015-02-15 22:55:09 +0100 |
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committer | Lorenz Meier <lorenz@px4.io> | 2015-02-15 22:55:09 +0100 |
commit | f26a1cb3f1e9fcc1e4ad6efed07b210b4e652564 (patch) | |
tree | 173ff80246f578c21d2526cf76e77d2f7630a039 /src/drivers | |
parent | 3f69db25371cf76767668b22ab20660b09433c9f (diff) | |
parent | c26b4e123f9e09dec812ca9039612de200cf7f62 (diff) | |
download | px4-firmware-f26a1cb3f1e9fcc1e4ad6efed07b210b4e652564.tar.gz px4-firmware-f26a1cb3f1e9fcc1e4ad6efed07b210b4e652564.tar.bz2 px4-firmware-f26a1cb3f1e9fcc1e4ad6efed07b210b4e652564.zip |
Merge pull request #1794 from PX4/ekf-fixes
EKF Fixes from @Zefz
Diffstat (limited to 'src/drivers')
-rw-r--r-- | src/drivers/gps/gps.cpp | 41 |
1 files changed, 26 insertions, 15 deletions
diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index f9595a734..714c80ded 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -162,7 +162,7 @@ extern "C" __EXPORT int gps_main(int argc, char *argv[]); namespace { -GPS *g_dev; +GPS *g_dev = nullptr; } @@ -292,7 +292,6 @@ GPS::task_main() while (!_task_should_exit) { if (_fake_gps) { - _report_gps_pos.timestamp_position = hrt_absolute_time(); _report_gps_pos.lat = (int32_t)47.378301e7f; _report_gps_pos.lon = (int32_t)8.538777e7f; @@ -309,10 +308,11 @@ GPS::task_main() _report_gps_pos.vel_d_m_s = 0.0f; _report_gps_pos.vel_m_s = sqrtf(_report_gps_pos.vel_n_m_s * _report_gps_pos.vel_n_m_s + _report_gps_pos.vel_e_m_s * _report_gps_pos.vel_e_m_s + _report_gps_pos.vel_d_m_s * _report_gps_pos.vel_d_m_s); _report_gps_pos.cog_rad = 0.0f; - _report_gps_pos.vel_ned_valid = true; + _report_gps_pos.vel_ned_valid = true; //no time and satellite information simulated + if (!(_pub_blocked)) { if (_report_gps_pos_pub > 0) { orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub, &_report_gps_pos); @@ -364,6 +364,7 @@ GPS::task_main() if (!(_pub_blocked)) { if (helper_ret & 1) { + if (_report_gps_pos_pub > 0) { orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub, &_report_gps_pos); @@ -478,25 +479,35 @@ GPS::cmd_reset() void GPS::print_info() { - switch (_mode) { - case GPS_DRIVER_MODE_UBX: - warnx("protocol: UBX"); - break; + //GPS Mode + if(_fake_gps) { + warnx("protocol: SIMULATED"); + } - case GPS_DRIVER_MODE_MTK: - warnx("protocol: MTK"); - break; + else { + switch (_mode) { + case GPS_DRIVER_MODE_UBX: + warnx("protocol: UBX"); + break; + + case GPS_DRIVER_MODE_MTK: + warnx("protocol: MTK"); + break; case GPS_DRIVER_MODE_ASHTECH: warnx("protocol: ASHTECH"); break; - default: - break; + default: + break; + } } warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_healthy) ? "OK" : "NOT OK"); - warnx("sat info: %s", (_p_report_sat_info != nullptr) ? "enabled" : "disabled"); + warnx("sat info: %s, noise: %d, jamming detected: %s", + (_p_report_sat_info != nullptr) ? "enabled" : "disabled", + _report_gps_pos.noise_per_ms, + _report_gps_pos.jamming_indicator == 255 ? "YES" : "NO"); if (_report_gps_pos.timestamp_position != 0) { warnx("position lock: %dD, satellites: %d, last update: %8.4fms ago", (int)_report_gps_pos.fix_type, @@ -520,7 +531,7 @@ GPS::print_info() namespace gps { -GPS *g_dev; +GPS *g_dev = nullptr; void start(const char *uart_path, bool fake_gps, bool enable_sat_info); void stop(); @@ -686,5 +697,5 @@ gps_main(int argc, char *argv[]) gps::info(); out: - errx(1, "unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status' [-d /dev/ttyS0-n][-f][-s]"); + errx(1, "unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status'\n [-d /dev/ttyS0-n][-f (for enabling fake)][-s (to enable sat info)]"); } |