Merge pull request #116 from LORD-MicroStrain/fix/cv7_ublox_example_f…

…ix_type_bug Fixed UBlox parser bug
LORD-MicroStrain · Nov 22, 2024 · 6a483df · 6a483df
2 parents e84d13b + dc0ae42
commit 6a483df
Show file tree

Hide file tree

Showing 2 changed files with 12 additions and 3 deletions.
diff --git a/examples/CV7_INS/CV7_INS_simple_ublox_example.cpp b/examples/CV7_INS/CV7_INS_simple_ublox_example.cpp
@@ -311,7 +311,7 @@ int main(int argc, const char* argv[])
 
         // Check if measurement update is valid to send
         mip::Timestamp elapsed_time_from_last_measurement_update = current_timestamp - prev_measurement_update_timestamp;
-        bool ublox_data_valid = pvt_message_valid && pvt_message.time_valid && pvt_message.llh_position_valid;
+        bool ublox_data_valid = pvt_message_valid && pvt_message.time_valid && pvt_message.fix_valid;
         bool send_measurement_update = ublox_data_valid && elapsed_time_from_last_measurement_update > 250; // Cap maximum GNSS measurement input rate to 4hz
 
         if (send_measurement_update)

diff --git a/examples/CV7_INS/ublox_device.hpp b/examples/CV7_INS/ublox_device.hpp
@@ -87,13 +87,22 @@ namespace mip
             double longitude = 0;
             double height_above_ellipsoid = 0;
             float llh_position_uncertainty[3] = {0, 0, 0};
-            bool llh_position_valid = false;
+            bool fix_valid = false;
 
             // NED velocity
             float ned_velocity[3] = {0, 0, 0};
             float ned_velocity_uncertainty[3] = {0, 0, 0};
         };
 
+        enum FixType : uint8_t
+        {
+            NO_FIX = 0,
+            DEAD_RECKONING_ONLY = 1,
+            FIX_2D = 2,
+            FIX_3D = 3,
+            FIX_3D_AND_DEAD_RECKONING = 4,
+            TIME_FIX_ONLY = 5
+        };
 
         UbloxPVTMessage extract_pvt_message(const uint8_t payload[PVT_PAYLOAD_SIZE])
         {
@@ -118,7 +127,7 @@ namespace mip
             ublox_message.llh_position_uncertainty[0] = float(ublox_message_raw.horizontal_accuracy) * 1e-3f;
             ublox_message.llh_position_uncertainty[1] = float(ublox_message_raw.horizontal_accuracy) * 1e-3f;
             ublox_message.llh_position_uncertainty[2] = float(ublox_message_raw.vertical_accuracy) * 1e-3f;
-            ublox_message.llh_position_valid = !ublox_message_raw.llh_invalid_flag;
+            ublox_message.fix_valid = ublox_message_raw.fix_type == FIX_3D || ublox_message_raw.fix_type == FIX_3D_AND_DEAD_RECKONING;
 
             // NED velocity
             ublox_message.ned_velocity[0] = float(ublox_message_raw.north_velocity) * 1e-3f;