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Merge "GnssAdapter: add support for ppe fix type and calibration info"

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qctecmdr 2019-06-19 22:31:20 -07:00 committed by Gerrit - the friendly Code Review server
commit 98896798de
4 changed files with 155 additions and 49 deletions
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10
gnss/GnssAdapter.cpp
View file

@ -475,6 +475,16 @@ GnssAdapter::convertLocationInfo(GnssLocationInfoNotification& out,
out.flags |= GNSS_LOCATION_INFO_TIME_UNC_BIT;
out.timeUncMs = locationExtended.timeUncMs;
}
if (GPS_LOCATION_EXTENDED_HAS_CALIBRATION_CONFIDENCE & locationExtended.flags) {
out.flags |= GNSS_LOCATION_INFO_CALIBRATION_CONFIDENCE_BIT;
out.calibrationConfidence = locationExtended.calibrationConfidence;
}
if (GPS_LOCATION_EXTENDED_HAS_CALIBRATION_STATUS & locationExtended.flags) {
out.flags |= GNSS_LOCATION_INFO_CALIBRATION_STATUS_BIT;
out.calibrationStatus = locationExtended.calibrationStatus;
}
}

28
location/LocationDataTypes.h
View file

@ -172,8 +172,9 @@ typedef enum {
GNSS_LOCATION_INFO_UP_VEL_UNC_BIT = (1<<21),// valid Up Velocity Uncertainty
GNSS_LOCATION_INFO_LEAP_SECONDS_BIT = (1<<22),// valid leap seconds
GNSS_LOCATION_INFO_TIME_UNC_BIT = (1<<23),// valid time uncertainty
GNSS_LOCATION_INFO_NUM_SV_USED_IN_POSITION_BIT = (1<<24) // number of SV used in position
GNSS_LOCATION_INFO_NUM_SV_USED_IN_POSITION_BIT = (1<<24), // number of SV used in position
GNSS_LOCATION_INFO_CALIBRATION_CONFIDENCE_BIT = (1<<25), // valid sensor cal confidence
GNSS_LOCATION_INFO_CALIBRATION_STATUS_BIT = (1<<26), // valid sensor cal status
} GnssLocationInfoFlagBits;
typedef enum {
@ -601,6 +602,8 @@ typedef enum
{
GNSS_LOC_SV_SYSTEM_UNKNOWN = 0,
/** unknown sv system. */
GNSS_LOC_SV_SYSTEM_MIN = 1,
/**< Min enum of valid SV system. */
GNSS_LOC_SV_SYSTEM_GPS = 1,
/**< GPS satellite. */
GNSS_LOC_SV_SYSTEM_GALILEO = 2,
@ -613,8 +616,10 @@ typedef enum
/**< BDS satellite. */
GNSS_LOC_SV_SYSTEM_QZSS = 6,
/**< QZSS satellite. */
GNSS_LOC_SV_SYSTEM_NAVIC = 7
GNSS_LOC_SV_SYSTEM_NAVIC = 7,
/**< QZSS satellite. */
GNSS_LOC_SV_SYSTEM_MAX = 7,
/**< Max enum of valid SV system. */
} Gnss_LocSvSystemEnumType;
typedef enum {
@ -695,6 +700,20 @@ typedef struct {
GnssAidingDataCommon common; // common aiding data
} GnssAidingData;
typedef uint16_t DrCalibrationStatusMask;
typedef enum {
// Indicate that roll calibration is needed. Need to take more turns on level ground
DR_ROLL_CALIBRATION_NEEDED = (1<<0),
// Indicate that pitch calibration is needed. Need to take more turns on level ground
DR_PITCH_CALIBRATION_NEEDED = (1<<1),
// Indicate that yaw calibration is needed. Need to accelerate in a straight line
DR_YAW_CALIBRATION_NEEDED = (1<<2),
// Indicate that odo calibration is needed. Need to accelerate in a straight line
DR_ODO_CALIBRATION_NEEDED = (1<<3),
// Indicate that gyro calibration is needed. Need to take more turns on level ground
DR_GYRO_CALIBRATION_NEEDED = (1<<4)
} DrCalibrationStatusBits;
typedef struct {
uint32_t size; // set to sizeof(Location)
LocationFlagsMask flags; // bitwise OR of LocationFlagsBits to mark which params are valid
@ -975,6 +994,9 @@ typedef struct {
GnssMeasUsageInfo measUsageInfo[GNSS_SV_MAX]; // GNSS Measurement Usage info
uint8_t leapSeconds; // leap second
float timeUncMs; // Time uncertainty in milliseconds
uint8_t calibrationConfidence; // Sensor calibration confidence percent,
// in range of [0, 100]
DrCalibrationStatusMask calibrationStatus; // Sensor calibration status
} GnssLocationInfoNotification;
typedef struct {

19
utils/gps_extended_c.h
View file

@ -372,15 +372,19 @@ typedef uint64_t GpsLocationExtendedFlags;
/** GpsLocationExtended has Clock drift*/
#define GPS_LOCATION_EXTENDED_HAS_CLOCK_DRIFT 0x20000000
/** GpsLocationExtended has Clock drift std deviation**/
#define GPS_LOCATION_EXTENDED_HAS_CLOCK_DRIFT_STD_DEV 0x40000000
#define GPS_LOCATION_EXTENDED_HAS_CLOCK_DRIFT_STD_DEV 0x40000000
/** GpsLocationExtended has leap seconds **/
#define GPS_LOCATION_EXTENDED_HAS_LEAP_SECONDS 0x80000000
#define GPS_LOCATION_EXTENDED_HAS_LEAP_SECONDS 0x80000000
/** GpsLocationExtended has time uncertainty **/
#define GPS_LOCATION_EXTENDED_HAS_TIME_UNC 0x100000000
#define GPS_LOCATION_EXTENDED_HAS_TIME_UNC 0x100000000
/** GpsLocationExtended has heading rate **/
#define GPS_LOCATION_EXTENDED_HAS_HEADING_RATE 0x200000000
#define GPS_LOCATION_EXTENDED_HAS_HEADING_RATE 0x200000000
/** GpsLocationExtended has multiband signals **/
#define GPS_LOCATION_EXTENDED_HAS_MULTIBAND 0x400000000
#define GPS_LOCATION_EXTENDED_HAS_MULTIBAND 0x400000000
/** GpsLocationExtended has sensor calibration confidence */
#define GPS_LOCATION_EXTENDED_HAS_CALIBRATION_CONFIDENCE 0x800000000
/** GpsLocationExtended has sensor calibration status */
#define GPS_LOCATION_EXTENDED_HAS_CALIBRATION_STATUS 0x1000000000
typedef uint32_t LocNavSolutionMask;
/* Bitmask to specify whether SBAS ionospheric correction is used */
@ -397,6 +401,8 @@ typedef uint32_t LocNavSolutionMask;
#define LOC_NAV_MASK_RTK_CORRECTION ((LocNavSolutionMask)0x0020)
/**< Bitmask to specify whether Position Report is PPP corrected */
#define LOC_NAV_MASK_PPP_CORRECTION ((LocNavSolutionMask)0x0040)
/**< Bitmask to specify whether Position Report is RTK fixed corrected */
#define LOC_NAV_MASK_RTK_FIXED_CORRECTION ((LocNavSolutionMask)0x0080)
typedef uint32_t LocPosDataMask;
/* Bitmask to specify whether Navigation data has Forward Acceleration */
@ -792,6 +798,9 @@ typedef struct {
Range: 0 to 359.999. 946
Unit: Degrees per Seconds */
float headingRateDeg;
/** Sensor calibration confidence percent. Range: 0 - 100 */
uint8_t calibrationConfidence;
DrCalibrationStatusMask calibrationStatus;
} GpsLocationExtended;
enum loc_sess_status {

147
utils/loc_nmea.cpp
View file

@ -880,7 +880,7 @@ static void loc_nmea_generate_DTM(const LocLla &ref_lla,
}
/*===========================================================================
FUNCTION getUtcTimeWithLeapSecondTransition
FUNCTION get_utctime_with_leapsecond_transition
DESCRIPTION
This function returns true if the position report is generated during
@ -900,10 +900,12 @@ SIDE EFFECTS
N/A
===========================================================================*/
bool getUtcTimeWithLeapSecondTransition(const UlpLocation &location,
const GpsLocationExtended &locationExtended,
const LocationSystemInfo &systemInfo,
LocGpsUtcTime &utcPosTimestamp) {
static bool get_utctime_with_leapsecond_transition(
const UlpLocation &location,
const GpsLocationExtended &locationExtended,
const LocationSystemInfo &systemInfo,
LocGpsUtcTime &utcPosTimestamp)
{
bool inTransition = false;
// position report is not generated during leap second transition,
@ -952,6 +954,94 @@ bool getUtcTimeWithLeapSecondTransition(const UlpLocation &location,
return inTransition;
}
/*===========================================================================
FUNCTION loc_nmea_get_fix_quality
DESCRIPTION
This function obtains the fix quality for GGA sentence, mode indicator
for RMC and VTG sentence based on nav solution mask and tech mask in
the postion report.
DEPENDENCIES
NONE
Output parameter
ggaGpsQuality: gps quality field in GGA sentence
rmcModeIndicator: mode indicator field in RMC sentence
vtgModeIndicator: mode indicator field in VTG sentence
SIDE EFFECTS
N/A
===========================================================================*/
static void loc_nmea_get_fix_quality(const UlpLocation & location,
const GpsLocationExtended & locationExtended,
char & ggaGpsQuality,
char & rmcModeIndicator,
char & vtgModeIndicator) {
ggaGpsQuality = '0';
rmcModeIndicator = 'N';
vtgModeIndicator = 'N';
do {
if (!(location.gpsLocation.flags & LOC_GPS_LOCATION_HAS_LAT_LONG)){
ggaGpsQuality = '0'; // 0 means no fix
rmcModeIndicator = 'N';
vtgModeIndicator = 'N';
break;
}
// NOTE: Order of the check is important
if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_NAV_SOLUTION_MASK) {
if (LOC_NAV_MASK_PPP_CORRECTION & locationExtended.navSolutionMask) {
ggaGpsQuality = '2'; // 2 means DGPS fix
rmcModeIndicator = 'P'; // P means precise
vtgModeIndicator = 'P'; // P means precise
break;
} else if (LOC_NAV_MASK_RTK_FIXED_CORRECTION & locationExtended.navSolutionMask){
ggaGpsQuality = '4'; // 4 means RTK Fixed fix
rmcModeIndicator = 'R'; // use R (RTK fixed)
vtgModeIndicator = 'D'; // use D (differential) as
// no RTK fixed defined for VTG in NMEA 183 spec
break;
} else if (LOC_NAV_MASK_RTK_CORRECTION & locationExtended.navSolutionMask){
ggaGpsQuality = '5'; // 5 means RTK float fix
rmcModeIndicator = 'F'; // F means RTK float fix
vtgModeIndicator = 'D'; // use D (differential) as
// no RTK float defined for VTG in NMEA 183 spec
break;
} else if (LOC_NAV_MASK_DGNSS_CORRECTION & locationExtended.navSolutionMask){
ggaGpsQuality = '2'; // 2 means DGPS fix
rmcModeIndicator = 'D'; // D means differential
vtgModeIndicator = 'D'; // D means differential
break;
} else if (LOC_NAV_MASK_SBAS_CORRECTION_IONO & locationExtended.navSolutionMask){
ggaGpsQuality = '2'; // 2 means DGPS fix
rmcModeIndicator = 'D'; // D means differential
vtgModeIndicator = 'D'; // D means differential
break;
}
}
// NOTE: Order of the check is important
if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_POS_TECH_MASK) {
if (LOC_POS_TECH_MASK_SATELLITE & locationExtended.tech_mask){
ggaGpsQuality = '1'; // 1 means GPS
rmcModeIndicator = 'A'; // A means autonomous
vtgModeIndicator = 'A'; // A means autonomous
break;
} else if (LOC_POS_TECH_MASK_SENSORS & locationExtended.tech_mask){
ggaGpsQuality = '6'; // 6 means estimated (dead reckoning)
rmcModeIndicator = 'E'; // E means estimated (dead reckoning)
vtgModeIndicator = 'E'; // E means estimated (dead reckoning)
break;
}
}
} while (0);
LOC_LOGv("gps quality: %c, rmc mode indicator: %c, vtg mode indicator: %c",
ggaGpsQuality, rmcModeIndicator, vtgModeIndicator);
}
/*===========================================================================
FUNCTION loc_nmea_generate_pos
@ -987,7 +1077,7 @@ void loc_nmea_generate_pos(const UlpLocation &location,
LocGpsUtcTime utcPosTimestamp = 0;
bool inLsTransition = false;
inLsTransition = getUtcTimeWithLeapSecondTransition
inLsTransition = get_utctime_with_leapsecond_transition
(location, locationExtended, systemInfo, utcPosTimestamp);
time_t utcTime(utcPosTimestamp/1000);
@ -1120,6 +1210,12 @@ void loc_nmea_generate_pos(const UlpLocation &location,
talker[1] = sv_meta.talker[1];
}
char ggaGpsQuality = '0';
char rmcModeIndicator = 'N';
char vtgModeIndicator = 'N';
loc_nmea_get_fix_quality(location, locationExtended,
ggaGpsQuality, rmcModeIndicator, vtgModeIndicator);
// -------------------
// ------$--VTG-------
// -------------------
@ -1174,17 +1270,7 @@ void loc_nmea_generate_pos(const UlpLocation &location,
pMarker += length;
lengthRemaining -= length;
if (!(location.gpsLocation.flags & LOC_GPS_LOCATION_HAS_LAT_LONG))
// N means no fix
length = snprintf(pMarker, lengthRemaining, "%c", 'N');
else if (LOC_NAV_MASK_SBAS_CORRECTION_IONO & locationExtended.navSolutionMask)
// D means differential
length = snprintf(pMarker, lengthRemaining, "%c", 'D');
else if (LOC_POS_TECH_MASK_SENSORS == locationExtended.tech_mask)
// E means estimated (dead reckoning)
length = snprintf(pMarker, lengthRemaining, "%c", 'E');
else // A means autonomous
length = snprintf(pMarker, lengthRemaining, "%c", 'A');
length = snprintf(pMarker, lengthRemaining, "%c", vtgModeIndicator);
length = loc_nmea_put_checksum(sentence, sizeof(sentence));
nmeaArraystr.push_back(sentence);
@ -1372,18 +1458,7 @@ void loc_nmea_generate_pos(const UlpLocation &location,
pMarker += length;
lengthRemaining -= length;
if (!(location.gpsLocation.flags & LOC_GPS_LOCATION_HAS_LAT_LONG))
// N means no fix
length = snprintf(pMarker, lengthRemaining, "%c", 'N');
else if (LOC_NAV_MASK_SBAS_CORRECTION_IONO & locationExtended.navSolutionMask)
// D means differential
length = snprintf(pMarker, lengthRemaining, "%c", 'D');
else if (LOC_POS_TECH_MASK_SENSORS == locationExtended.tech_mask)
// E means estimated (dead reckoning)
length = snprintf(pMarker, lengthRemaining, "%c", 'E');
else // A means autonomous
length = snprintf(pMarker, lengthRemaining, "%c", 'A');
length = snprintf(pMarker, lengthRemaining, "%c", rmcModeIndicator);
pMarker += length;
lengthRemaining -= length;
@ -1600,28 +1675,18 @@ void loc_nmea_generate_pos(const UlpLocation &location,
pMarker += length;
lengthRemaining -= length;
char gpsQuality;
if (!(location.gpsLocation.flags & LOC_GPS_LOCATION_HAS_LAT_LONG))
gpsQuality = '0'; // 0 means no fix
else if (LOC_NAV_MASK_SBAS_CORRECTION_IONO & locationExtended.navSolutionMask)
gpsQuality = '2'; // 2 means DGPS fix
else if (LOC_POS_TECH_MASK_SENSORS == locationExtended.tech_mask)
gpsQuality = '6'; // 6 means estimated (dead reckoning)
else
gpsQuality = '1'; // 1 means GPS fix
// Number of satellites in use, 00-12
if (svUsedCount > MAX_SATELLITES_IN_USE)
svUsedCount = MAX_SATELLITES_IN_USE;
if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_DOP)
{
length = snprintf(pMarker, lengthRemaining, "%c,%02d,%.1f,",
gpsQuality, svUsedCount, locationExtended.hdop);
ggaGpsQuality, svUsedCount, locationExtended.hdop);
}
else
{ // no hdop
length = snprintf(pMarker, lengthRemaining, "%c,%02d,,",
gpsQuality, svUsedCount);
ggaGpsQuality, svUsedCount);
}
if (length < 0 || length >= lengthRemaining)