GPS NMEA: enhance gga fix qualtiy for sensor contributed fix
This enhancement will be enabled if CUSTOM_NMEA_GGA_FIX_QUALITY_ENABLED is set to 1 in gps.conf. PPP fix w/o sensor: fix quality will now be 59 PPP fix w sensor: fix quality will now be 69 RTK fixed fix w/ sensor: fix quality will now be 64 RTK float fix w/ sensor: 65 DGNSS and/or SBAS correction fix and w/ sensor: 62 GPS fix without correction but and w/ sensor: 61 Change-Id: I7bc1bb5504e023de40f271d97d31c602f27bd94e CRs-fixed: 2537211
This commit is contained in:
Wei Chen
Gerrit - the friendly Code Review server
parent
87923e48c1
commit
3a84bfac17
6 changed files with 118 additions and 25 deletions
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@ -70,7 +70,8 @@ const loc_param_s_type ContextBase::mGps_conf_table[] =
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{"XTRA_SERVER_1", &mGps_conf.XTRA_SERVER_1, NULL, 's'},
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{"XTRA_SERVER_2", &mGps_conf.XTRA_SERVER_2, NULL, 's'},
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{"XTRA_SERVER_3", &mGps_conf.XTRA_SERVER_3, NULL, 's'},
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{"USE_EMERGENCY_PDN_FOR_EMERGENCY_SUPL", &mGps_conf.USE_EMERGENCY_PDN_FOR_EMERGENCY_SUPL, NULL, 'n'},
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{"USE_EMERGENCY_PDN_FOR_EMERGENCY_SUPL",
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&mGps_conf.USE_EMERGENCY_PDN_FOR_EMERGENCY_SUPL, NULL, 'n'},
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{"AGPS_CONFIG_INJECT", &mGps_conf.AGPS_CONFIG_INJECT, NULL, 'n'},
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{"EXTERNAL_DR_ENABLED", &mGps_conf.EXTERNAL_DR_ENABLED, NULL, 'n'},
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{"SUPL_HOST", &mGps_conf.SUPL_HOST, NULL, 's'},
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@ -78,13 +79,19 @@ const loc_param_s_type ContextBase::mGps_conf_table[] =
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{"MODEM_TYPE", &mGps_conf.MODEM_TYPE, NULL, 'n' },
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{"MO_SUPL_HOST", &mGps_conf.MO_SUPL_HOST, NULL, 's' },
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{"MO_SUPL_PORT", &mGps_conf.MO_SUPL_PORT, NULL, 'n' },
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{"CONSTRAINED_TIME_UNCERTAINTY_ENABLED", &mGps_conf.CONSTRAINED_TIME_UNCERTAINTY_ENABLED, NULL, 'n'},
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{"CONSTRAINED_TIME_UNCERTAINTY_THRESHOLD", &mGps_conf.CONSTRAINED_TIME_UNCERTAINTY_THRESHOLD, NULL, 'f'},
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{"CONSTRAINED_TIME_UNCERTAINTY_ENERGY_BUDGET", &mGps_conf.CONSTRAINED_TIME_UNCERTAINTY_ENERGY_BUDGET, NULL, 'n'},
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{"POSITION_ASSISTED_CLOCK_ESTIMATOR_ENABLED", &mGps_conf.POSITION_ASSISTED_CLOCK_ESTIMATOR_ENABLED, NULL, 'n'},
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{"CONSTRAINED_TIME_UNCERTAINTY_ENABLED",
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&mGps_conf.CONSTRAINED_TIME_UNCERTAINTY_ENABLED, NULL, 'n'},
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{"CONSTRAINED_TIME_UNCERTAINTY_THRESHOLD",
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&mGps_conf.CONSTRAINED_TIME_UNCERTAINTY_THRESHOLD, NULL, 'f'},
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{"CONSTRAINED_TIME_UNCERTAINTY_ENERGY_BUDGET",
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&mGps_conf.CONSTRAINED_TIME_UNCERTAINTY_ENERGY_BUDGET, NULL, 'n'},
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{"POSITION_ASSISTED_CLOCK_ESTIMATOR_ENABLED",
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&mGps_conf.POSITION_ASSISTED_CLOCK_ESTIMATOR_ENABLED, NULL, 'n'},
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{"PROXY_APP_PACKAGE_NAME", &mGps_conf.PROXY_APP_PACKAGE_NAME, NULL, 's' },
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{"CP_MTLR_ES", &mGps_conf.CP_MTLR_ES, NULL, 'n' },
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{"GNSS_DEPLOYMENT", &mGps_conf.GNSS_DEPLOYMENT, NULL, 'n'},
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{"CUSTOM_NMEA_GGA_FIX_QUALITY_ENABLED",
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&mGps_conf.CUSTOM_NMEA_GGA_FIX_QUALITY_ENABLED, NULL, 'n'},
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};
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const loc_param_s_type ContextBase::mSap_conf_table[] =
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@ -183,6 +190,7 @@ void ContextBase::readConfig()
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mGps_conf.POSITION_ASSISTED_CLOCK_ESTIMATOR_ENABLED = 0;
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/* default configuration QTI GNSS H/W */
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mGps_conf.GNSS_DEPLOYMENT = 0;
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mGps_conf.CUSTOM_NMEA_GGA_FIX_QUALITY_ENABLED = 0;
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UTIL_READ_CONF(LOC_PATH_GPS_CONF, mGps_conf_table);
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UTIL_READ_CONF(LOC_PATH_SAP_CONF, mSap_conf_table);
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@ -74,6 +74,7 @@ typedef struct loc_gps_cfg_s
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char PROXY_APP_PACKAGE_NAME[LOC_MAX_PARAM_STRING];
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uint32_t CP_MTLR_ES;
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uint32_t GNSS_DEPLOYMENT;
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uint32_t CUSTOM_NMEA_GGA_FIX_QUALITY_ENABLED;
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} loc_gps_cfg_s_type;
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/* NOTE: the implementaiton of the parser casts number
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25
etc/gps.conf
25
etc/gps.conf
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@ -99,6 +99,31 @@ DATUM_TYPE = 0
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################################
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# NMEA provider (1=Modem Processor, 0=Application Processor)
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NMEA_PROVIDER=0
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# Customized NMEA GGA fix quality that can be used to tell
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# whether SENSOR contributed to the fix.
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#
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# When this configuration item is not enabled (set to any value that is not 1),
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# GGA fix quality conforms to NMEA standard spec as below:
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# PPP/DGNSS/SBAS correction fix w/ or w/o sensor: 2
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# RTK fixed fix w/ or w/o sensor: 4
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# RTK float fix w/ or w/o sensor: 5
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# SPE fix w/ or w/o sensor: 1
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# Sensor dead reckoning fix: 6
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#
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# When this configuration is enabled (set to 1), GGA fix quality
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# will be output as below:
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# PPP fix w/o sensor: 59, w/ sensor: 69
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# DGNSS/SBAS correction fix w/o sensor: 2, w/ sensor: 62
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# RTK fixed fix w/o sensor: 4, w/ sensor: 64
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# RTK float fix w/o sensor: 5, w/ sensor: 65,
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# SPE fix w/o sensor: 1, and w/ sensor: 61
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# Sensor dead reckoning fix: 6
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#
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# any value that is not 1 - disabled
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# 1 - enabled
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CUSTOM_NMEA_GGA_FIX_QUALITY_ENABLED = 0
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# Mark if it is a SGLTE target (1=SGLTE, 0=nonSGLTE)
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SGLTE_TARGET=0
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@ -3272,9 +3272,10 @@ GnssAdapter::reportPosition(const UlpLocation& ulpLocation,
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(0 == ulpLocation.gpsLocation.longitude) &&
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(LOC_RELIABILITY_NOT_SET == locationExtended.horizontal_reliability));
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uint8_t generate_nmea = (reportToGnssClient && status != LOC_SESS_FAILURE && !blank_fix);
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bool custom_nmea_gga = (1 == ContextBase::mGps_conf.CUSTOM_NMEA_GGA_FIX_QUALITY_ENABLED);
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std::vector<std::string> nmeaArraystr;
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loc_nmea_generate_pos(ulpLocation, locationExtended, mLocSystemInfo,
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generate_nmea, nmeaArraystr);
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generate_nmea, custom_nmea_gga, nmeaArraystr);
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stringstream ss;
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for (auto itor = nmeaArraystr.begin(); itor != nmeaArraystr.end(); ++itor) {
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ss << *itor;
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@ -1033,47 +1033,56 @@ SIDE EFFECTS
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===========================================================================*/
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static void loc_nmea_get_fix_quality(const UlpLocation & location,
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const GpsLocationExtended & locationExtended,
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char & ggaGpsQuality,
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bool custom_gga_fix_quality,
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char ggaGpsQuality[3],
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char & rmcModeIndicator,
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char & vtgModeIndicator) {
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ggaGpsQuality = '0';
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rmcModeIndicator = 'N';
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vtgModeIndicator = 'N';
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ggaGpsQuality[0] = '0'; // 0 means no fix
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rmcModeIndicator = 'N'; // N means no fix
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vtgModeIndicator = 'N'; // N means no fix
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do {
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// GGA fix quality is defined in NMEA spec as below:
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// https://www.trimble.com/OEM_ReceiverHelp/V4.44/en/NMEA-0183messages_GGA.html
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// Fix quality: 0 = invalid
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// 1 = GPS fix (SPS)
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// 2 = DGPS fix
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// 3 = PPS fix
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// 4 = Real Time Kinematic
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// 5 = Float RTK
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// 6 = estimated (dead reckoning) (2.3 feature)
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// 7 = Manual input mode
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// 8 = Simulation mode
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if (!(location.gpsLocation.flags & LOC_GPS_LOCATION_HAS_LAT_LONG)){
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ggaGpsQuality = '0'; // 0 means no fix
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rmcModeIndicator = 'N';
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vtgModeIndicator = 'N';
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break;
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}
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// NOTE: Order of the check is important
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if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_NAV_SOLUTION_MASK) {
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if (LOC_NAV_MASK_PPP_CORRECTION & locationExtended.navSolutionMask) {
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ggaGpsQuality = '2'; // 2 means DGPS fix
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ggaGpsQuality[0] = '2'; // 2 means DGPS fix
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rmcModeIndicator = 'P'; // P means precise
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vtgModeIndicator = 'P'; // P means precise
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break;
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} else if (LOC_NAV_MASK_RTK_FIXED_CORRECTION & locationExtended.navSolutionMask){
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ggaGpsQuality = '4'; // 4 means RTK Fixed fix
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ggaGpsQuality[0] = '4'; // 4 means RTK Fixed fix
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rmcModeIndicator = 'R'; // use R (RTK fixed)
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vtgModeIndicator = 'D'; // use D (differential) as
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// no RTK fixed defined for VTG in NMEA 183 spec
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break;
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} else if (LOC_NAV_MASK_RTK_CORRECTION & locationExtended.navSolutionMask){
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ggaGpsQuality = '5'; // 5 means RTK float fix
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ggaGpsQuality[0] = '5'; // 5 means RTK float fix
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rmcModeIndicator = 'F'; // F means RTK float fix
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vtgModeIndicator = 'D'; // use D (differential) as
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// no RTK float defined for VTG in NMEA 183 spec
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break;
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} else if (LOC_NAV_MASK_DGNSS_CORRECTION & locationExtended.navSolutionMask){
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ggaGpsQuality = '2'; // 2 means DGPS fix
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ggaGpsQuality[0] = '2'; // 2 means DGPS fix
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rmcModeIndicator = 'D'; // D means differential
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vtgModeIndicator = 'D'; // D means differential
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break;
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} else if (LOC_NAV_MASK_SBAS_CORRECTION_IONO & locationExtended.navSolutionMask){
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ggaGpsQuality = '2'; // 2 means DGPS fix
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ggaGpsQuality[0] = '2'; // 2 means DGPS fix
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rmcModeIndicator = 'D'; // D means differential
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vtgModeIndicator = 'D'; // D means differential
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break;
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@ -1082,12 +1091,12 @@ static void loc_nmea_get_fix_quality(const UlpLocation & location,
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// NOTE: Order of the check is important
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if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_POS_TECH_MASK) {
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if (LOC_POS_TECH_MASK_SATELLITE & locationExtended.tech_mask){
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ggaGpsQuality = '1'; // 1 means GPS
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ggaGpsQuality[0] = '1'; // 1 means GPS
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rmcModeIndicator = 'A'; // A means autonomous
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vtgModeIndicator = 'A'; // A means autonomous
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break;
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} else if (LOC_POS_TECH_MASK_SENSORS & locationExtended.tech_mask){
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ggaGpsQuality = '6'; // 6 means estimated (dead reckoning)
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ggaGpsQuality[0] = '6'; // 6 means estimated (dead reckoning)
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rmcModeIndicator = 'E'; // E means estimated (dead reckoning)
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vtgModeIndicator = 'E'; // E means estimated (dead reckoning)
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break;
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@ -1095,7 +1104,54 @@ static void loc_nmea_get_fix_quality(const UlpLocation & location,
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}
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} while (0);
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LOC_LOGv("gps quality: %c, rmc mode indicator: %c, vtg mode indicator: %c",
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do {
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// check for customized nmea enabled or not
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// with customized GGA quality enabled
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// PPP fix w/o sensor: 59, PPP fix w/ sensor: 69
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// DGNSS/SBAS correction fix w/o sensor: 2, w/ sensor: 62
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// RTK fixed fix w/o sensor: 4, w/ sensor: 64
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// RTK float fix w/o sensor: 5, w/ sensor: 65
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// SPE fix w/o sensor: 1, and w/ sensor: 61
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// Sensor dead reckoning fix: 6
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if (true == custom_gga_fix_quality) {
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if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_NAV_SOLUTION_MASK) {
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// PPP fix w/o sensor: fix quality will now be 59
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// PPP fix w sensor: fix quality will now be 69
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if (LOC_NAV_MASK_PPP_CORRECTION & locationExtended.navSolutionMask) {
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if ((locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_POS_TECH_MASK) &&
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(LOC_POS_TECH_MASK_SENSORS & locationExtended.tech_mask)) {
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ggaGpsQuality[0] = '6';
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ggaGpsQuality[1] = '9';
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} else {
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ggaGpsQuality[0] = '5';
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ggaGpsQuality[1] = '9';
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}
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break;
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}
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}
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if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_POS_TECH_MASK) {
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if (LOC_POS_TECH_MASK_SENSORS & locationExtended.tech_mask){
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char ggaQuality_copy = ggaGpsQuality[0];
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ggaGpsQuality[0] = '6'; // 6 sensor assisted
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// RTK fixed fix w/ sensor: fix quality will now be 64
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// RTK float fix w/ sensor: 65
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// DGNSS and/or SBAS correction fix and w/ sensor: 62
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// GPS fix without correction and w/ sensor: 61
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if ((LOC_NAV_MASK_RTK_FIXED_CORRECTION & locationExtended.navSolutionMask)||
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(LOC_NAV_MASK_RTK_CORRECTION & locationExtended.navSolutionMask)||
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(LOC_NAV_MASK_DGNSS_CORRECTION & locationExtended.navSolutionMask)||
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(LOC_NAV_MASK_SBAS_CORRECTION_IONO & locationExtended.navSolutionMask)||
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(LOC_POS_TECH_MASK_SATELLITE & locationExtended.tech_mask)) {
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ggaGpsQuality[1] = ggaQuality_copy;
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break;
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}
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}
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}
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}
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} while (0);
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LOC_LOGv("gps quality: %s, rmc mode indicator: %c, vtg mode indicator: %c",
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ggaGpsQuality, rmcModeIndicator, vtgModeIndicator);
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}
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@ -1127,6 +1183,7 @@ void loc_nmea_generate_pos(const UlpLocation &location,
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const GpsLocationExtended &locationExtended,
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const LocationSystemInfo &systemInfo,
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unsigned char generate_nmea,
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bool custom_gga_fix_quality,
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std::vector<std::string> &nmeaArraystr)
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{
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ENTRY_LOG();
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@ -1270,10 +1327,10 @@ void loc_nmea_generate_pos(const UlpLocation &location,
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talker[1] = sv_meta.talker[1];
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}
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char ggaGpsQuality = '0';
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char ggaGpsQuality[3] = {'0', '\0', '\0'};
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char rmcModeIndicator = 'N';
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char vtgModeIndicator = 'N';
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loc_nmea_get_fix_quality(location, locationExtended,
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loc_nmea_get_fix_quality(location, locationExtended, custom_gga_fix_quality,
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ggaGpsQuality, rmcModeIndicator, vtgModeIndicator);
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// -------------------
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@ -1772,12 +1829,12 @@ void loc_nmea_generate_pos(const UlpLocation &location,
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svUsedCount = MAX_SATELLITES_IN_USE;
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if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_DOP)
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{
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length = snprintf(pMarker, lengthRemaining, "%c,%02d,%.1f,",
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length = snprintf(pMarker, lengthRemaining, "%s,%02d,%.1f,",
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ggaGpsQuality, svUsedCount, locationExtended.hdop);
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}
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else
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{ // no hdop
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length = snprintf(pMarker, lengthRemaining, "%c,%02d,,",
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length = snprintf(pMarker, lengthRemaining, "%s,%02d,,",
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ggaGpsQuality, svUsedCount);
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}
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@ -79,6 +79,7 @@ void loc_nmea_generate_pos(const UlpLocation &location,
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const GpsLocationExtended &locationExtended,
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const LocationSystemInfo &systemInfo,
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unsigned char generate_nmea,
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bool custom_gga_fix_quality,
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std::vector<std::string> &nmeaArraystr);
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#define DEBUG_NMEA_MINSIZE 6
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