MiPad4/android_device_xiaomi_sdm660-common
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

GNSS hal: propagate position dynamics uncertainty

Browse source 
Support for uncertainty of positition dynamics, including
uncertainty of forward, sideward, upward accelation,
and uncertainty of heading and pitch

Change-Id: I33fbfd0344d4beb7eabaa629b0c0993fe368293b
CRs-fixed: 2263818
This commit is contained in:
Naresh Munagala 2018-06-21 10:44:51 +05:30
parent 9676e39aa9
commit 02cddf0f26
3 changed files with 20 additions and 75 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

28
gnss/GnssAdapter.cpp
View file

@ -380,34 +380,12 @@ GnssAdapter::convertLocationInfo(GnssLocationInfoNotification& out,
out.navSolutionMask = locationExtended.navSolutionMask;
}
if (GPS_LOCATION_EXTENDED_HAS_POS_TECH_MASK & locationExtended.flags) {
out.flags |= GPS_LOCATION_EXTENDED_HAS_POS_TECH_MASK;
out.flags |= GNSS_LOCATION_INFO_POS_TECH_MASK_BIT;
out.posTechMask = locationExtended.tech_mask;
}
if (GPS_LOCATION_EXTENDED_HAS_POS_DYNAMICS_DATA & locationExtended.flags) {
out.flags |= GPS_LOCATION_EXTENDED_HAS_POS_DYNAMICS_DATA;
if (locationExtended.bodyFrameData.bodyFrameDatamask &
LOCATION_NAV_DATA_HAS_LONG_ACCEL_BIT) {
out.bodyFrameData.bodyFrameDataMask |= LOCATION_NAV_DATA_HAS_LONG_ACCEL_BIT;
}
if (locationExtended.bodyFrameData.bodyFrameDatamask &
LOCATION_NAV_DATA_HAS_LAT_ACCEL_BIT) {
out.bodyFrameData.bodyFrameDataMask |= LOCATION_NAV_DATA_HAS_LAT_ACCEL_BIT;
}
if (locationExtended.bodyFrameData.bodyFrameDatamask &
LOCATION_NAV_DATA_HAS_VERT_ACCEL_BIT) {
out.bodyFrameData.bodyFrameDataMask |= LOCATION_NAV_DATA_HAS_VERT_ACCEL_BIT;
}
if (locationExtended.bodyFrameData.bodyFrameDatamask & LOCATION_NAV_DATA_HAS_YAW_RATE_BIT) {
out.bodyFrameData.bodyFrameDataMask |= LOCATION_NAV_DATA_HAS_YAW_RATE_BIT;
}
if (locationExtended.bodyFrameData.bodyFrameDatamask & LOCATION_NAV_DATA_HAS_PITCH_BIT) {
out.bodyFrameData.bodyFrameDataMask |= LOCATION_NAV_DATA_HAS_PITCH_BIT;
}
out.bodyFrameData.longAccel = locationExtended.bodyFrameData.longAccel;
out.bodyFrameData.latAccel = locationExtended.bodyFrameData.latAccel;
out.bodyFrameData.vertAccel = locationExtended.bodyFrameData.vertAccel;
out.bodyFrameData.yawRate = locationExtended.bodyFrameData.yawRate;
out.bodyFrameData.pitch = locationExtended.bodyFrameData.pitch;
out.flags |= GNSS_LOCATION_INFO_POS_DYNAMICS_DATA_BIT;
out.bodyFrameData = locationExtended.bodyFrameData;
}
// Validity of this structure is established from the timeSrc of the GnssSystemTime structure.

17
location/LocationDataTypes.h
View file

@ -119,7 +119,17 @@ typedef enum {
LOCATION_NAV_DATA_HAS_LAT_ACCEL_BIT = (1<<1), // Navigation data has Sideward Acceleration
LOCATION_NAV_DATA_HAS_VERT_ACCEL_BIT = (1<<2), // Navigation data has Vertical Acceleration
LOCATION_NAV_DATA_HAS_YAW_RATE_BIT = (1<<3), // Navigation data has Heading Rate
LOCATION_NAV_DATA_HAS_PITCH_BIT = (1<<4) // Navigation data has Body pitch
LOCATION_NAV_DATA_HAS_PITCH_BIT = (1<<4), // Navigation data has Body pitch
// Navigation data has Forward Acceleration uncertainty
LOCATION_NAV_DATA_HAS_LONG_ACCEL_UNC_BIT = (1<<5),
// Navigation data has Sideward Acceleration uncertainty
LOCATION_NAV_DATA_HAS_LAT_ACCEL_UNC_BIT = (1<<6),
// Navigation data has Vertical Acceleration uncertainty
LOCATION_NAV_DATA_HAS_VERT_ACCEL_UNC_BIT = (1<<7),
// Navigation data has Heading Rate uncertainty
LOCATION_NAV_DATA_HAS_YAW_RATE_UNC_BIT = (1<<8),
// Navigation data has Body pitch uncertainty
LOCATION_NAV_DATA_HAS_PITCH_UNC_BIT = (1<<9)
} GnssLocationPosDataBits;
typedef uint32_t GnssLocationInfoFlagMask;
@ -658,6 +668,11 @@ typedef struct {
float vertAccel; // Vertical Acceleration in body frame (m/s2)
float yawRate; // Heading Rate (Radians/second)
float pitch; // Body pitch (Radians)
float longAccelUnc; // Uncertainty of Forward Acceleration in body frame
float latAccelUnc; // Uncertainty of Side-ward Acceleration in body frame
float vertAccelUnc; // Uncertainty of Vertical Acceleration in body frame
float yawRateUnc; // Uncertainty of Heading Rate
float pitchUnc; // Uncertainty of Body pitch
} GnssLocationPositionDynamics;
typedef struct {

50
utils/gps_extended_c.h
View file

@ -353,28 +353,6 @@ typedef uint32_t LocNavSolutionMask;
/**< Bitmask to specify whether Position Report is PPP corrected */
#define LOC_NAV_MASK_PPP_CORRECTION ((LocNavSolutionMask)0x0040)
typedef uint32_t LocPosDataMask;
/* Bitmask to specify whether Navigation data has Forward Acceleration */
#define LOC_NAV_DATA_HAS_LONG_ACCEL ((LocPosDataMask)0x0001)
/* Bitmask to specify whether Navigation data has Sideward Acceleration */
#define LOC_NAV_DATA_HAS_LAT_ACCEL ((LocPosDataMask)0x0002)
/* Bitmask to specify whether Navigation data has Vertical Acceleration */
#define LOC_NAV_DATA_HAS_VERT_ACCEL ((LocPosDataMask)0x0004)
/* Bitmask to specify whether Navigation data has Heading Rate */
#define LOC_NAV_DATA_HAS_YAW_RATE ((LocPosDataMask)0x0008)
/* Bitmask to specify whether Navigation data has Body pitch */
#define LOC_NAV_DATA_HAS_PITCH ((LocPosDataMask)0x0010)
/* Bitmask to specify whether Navigation data has Forward Acceleration Unc */
#define LOC_NAV_DATA_HAS_LONG_ACCEL_UNC ((LocPosDataMask)0x0020)
/* Bitmask to specify whether Navigation data has Sideward Acceleration Unc*/
#define LOC_NAV_DATA_HAS_LAT_ACCEL_UNC ((LocPosDataMask)0x0040)
/* Bitmask to specify whether Navigation data has Vertical Acceleration Unc*/
#define LOC_NAV_DATA_HAS_VERT_ACCEL_UNC ((LocPosDataMask)0x0080)
/* Bitmask to specify whether Navigation data has Heading Rate Unc*/
#define LOC_NAV_DATA_HAS_YAW_RATE_UNC ((LocPosDataMask)0x0100)
/* Bitmask to specify whether Navigation data has Body pitch Unc*/
#define LOC_NAV_DATA_HAS_PITCH_UNC ((LocPosDataMask)0x0200)
/** GPS PRN Range */
#define GPS_SV_PRN_MIN 1
#define GPS_SV_PRN_MAX 32
@ -421,32 +399,6 @@ typedef struct {
uint64_t qzss_sv_used_ids_mask;
} GnssSvUsedInPosition;
/* Body Frame parameters */
typedef struct {
/** Contains Body frame LocPosDataMask bits. */
uint32_t bodyFrameDatamask;
/* Forward Acceleration in body frame (m/s2)*/
float longAccel;
/** Uncertainty of Forward Acceleration in body frame */
float longAccelUnc;
/* Sideward Acceleration in body frame (m/s2)*/
float latAccel;
/** Uncertainty of Side-ward Acceleration in body frame */
float latAccelUnc;
/* Vertical Acceleration in body frame (m/s2)*/
float vertAccel;
/** Uncertainty of Vertical Acceleration in body frame */
float vertAccelUnc;
/* Heading Rate (Radians/second) */
float yawRate;
/** Uncertainty of Heading Rate */
float yawRateUnc;
/* Body pitch (Radians) */
float pitch;
/** Uncertainty of Body pitch */
float pitchRadUnc;
}LocPositionDynamics;
typedef struct {
/** Position dilution of precision.
@ -636,7 +588,7 @@ typedef struct {
/** SV Info source used in computing this fix */
LocSvInfoSource sv_source;
/** Body Frame Dynamics: 4wayAcceleration and pitch set with validity */
LocPositionDynamics bodyFrameData;
GnssLocationPositionDynamics bodyFrameData;
/** GPS Time */
GPSTimeStruct gpsTime;
GnssSystemTime gnssSystemTime;