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Disable gps heading for UBX driver in RTK float fix type #104

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merged 5 commits into from
Apr 19, 2022
Merged

Disable gps heading for UBX driver in RTK float fix type #104

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2ab9de8
Disable gps heading for UBX driver in RTK float fix type
Apr 12, 2022
bcbd059
Update to keep raw date
Apr 13, 2022
094fa87
minor modifications
Apr 13, 2022
30221c3
Use carrier solution fixed
Apr 13, 2022
76b1ce4
Keep heading_valid in gps_rel message
Apr 13, 2022
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12 changes: 12 additions & 0 deletions src/ubx.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2036,8 +2036,15 @@ GPSDriverUBX::payloadRxDone()
float rel_length_acc = _buf.payload_rx_nav_relposned.accLength * 1e-2f;
bool heading_valid = _buf.payload_rx_nav_relposned.flags & (1 << 8);
bool rel_pos_valid = _buf.payload_rx_nav_relposned.flags & (1 << 2);
bool carrier_solution_fixed = _buf.payload_rx_nav_relposned.flags & (1 << 4);
(void)rel_length_acc;

// RTK float fix type is not accurate enough
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Instead of depending on the fix_type being set I would directly check the carrier_solution_floating flag in NAV-RELPOSNED here.

See the carrier_solution_floating and carrier_solution_fixed handling below.

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I've updated the code, please let me know if this is what you meant @dagar

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I would roll carrier_solution_fixed right into the conditional below, but otherwise this looks good.

if (!carrier_solution_fixed)
{
heading_valid = false;
}

if (heading_valid && rel_pos_valid && rel_length < 1000.f) { // validity & sanity checks
heading *= M_PI_F / 180.0f; // deg to rad, now in range [0, 2pi]
heading -= _heading_offset; // range: [-pi, 3pi]
Expand Down Expand Up @@ -2097,6 +2104,11 @@ GPSDriverUBX::payloadRxDone()
gps_rel.heading_valid = _buf.payload_rx_nav_relposned.flags & (1 << 8);
gps_rel.relative_position_normalized = _buf.payload_rx_nav_relposned.flags & (1 << 9);

if (!gps_rel.carrier_solution_fixed)
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I would drop this for now, at the moment we're just passing on the "heading_valid" flag as reported in NAV-RELPOSNED. For the heading field in sensor_gps we can have a higher standard.

{
gps_rel.heading_valid = false;
}

gotRelativePositionMessage(gps_rel);
}

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