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Renamed gps status flags to clafify GPS1 or GPS2 association (#330)
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* Renamed gps status flags to clafify GPS1 or GPS2 association

* Update cltool_main.cpp
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@waltjohnson
waltjohnson authored Dec 15, 2022
1 parent e1499d5 commit c3a274c
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Showing 4 changed files with 36 additions and 33 deletions.
2 changes: 1 addition & 1 deletion ExampleProjects/NTRIP_rover/ISNtripRoverExample.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -91,7 +91,7 @@ void handle_uINS_data(is_comm_instance_t *comm, cISStream *clientStream)
s_rx.gps.hAcc,
s_rx.rel.differentialAge, // time since last base message
fix.c_str(),
(s_rx.gps.status&GPS_STATUS_FLAGS_RTK_BASE_DATA_MISSING ? "BASE: No data" : (string("BASE: ")+to_string(s_rx.baseCount)).c_str())
(s_rx.gps.status&GPS_STATUS_FLAGS_GPS1_RTK_BASE_DATA_MISSING ? "BASE: No data" : (string("BASE: ")+to_string(s_rx.baseCount)).c_str())
);

// Forward our position via GGA every 5 seconds to the RTK base.
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21 changes: 12 additions & 9 deletions src/ISDisplay.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1151,18 +1151,21 @@ string cInertialSenseDisplay::DataToStringGpsPos(const gps_pos_t &gps, const p_d
gps.lla[0], // GPS Latitude
gps.lla[1], // GPS Longitude
gps.lla[2]); // GPS Ellipsoid altitude (meters)
if (gps.status&GPS_STATUS_FLAGS_RTK_POSITION_ENABLED)
if (gps.status&GPS_STATUS_FLAGS_GPS1_RTK_POSITION_ENABLED)
{
if (gps.status&GPS_STATUS_FLAGS_RTK_COMPASSING_ENABLED)
{
ptr += SNPRINTF(ptr, ptrEnd - ptr, "Compassing, ");
}
if (gps.status&GPS_STATUS_FLAGS_RTK_RAW_GPS_DATA_ERROR) { ptr += SNPRINTF(ptr, ptrEnd - ptr, "Raw error, "); }
if (gps.status&GPS_STATUS_FLAGS_GPS1_RTK_RAW_GPS_DATA_ERROR) { ptr += SNPRINTF(ptr, ptrEnd - ptr, "Raw error, "); }
switch (gps.status&GPS_STATUS_FLAGS_ERROR_MASK)
{
case GPS_STATUS_FLAGS_RTK_BASE_DATA_MISSING: ptr += SNPRINTF(ptr, ptrEnd - ptr, "Base missing, "); break;
case GPS_STATUS_FLAGS_RTK_BASE_POSITION_MOVING: ptr += SNPRINTF(ptr, ptrEnd - ptr, "Moving base, "); break;
case GPS_STATUS_FLAGS_RTK_BASE_POSITION_INVALID: ptr += SNPRINTF(ptr, ptrEnd - ptr, "Moving invalid, "); break;
case GPS_STATUS_FLAGS_GPS1_RTK_BASE_DATA_MISSING: ptr += SNPRINTF(ptr, ptrEnd - ptr, "Base missing, "); break;
case GPS_STATUS_FLAGS_GPS1_RTK_BASE_POSITION_MOVING: ptr += SNPRINTF(ptr, ptrEnd - ptr, "Moving base, "); break;
case GPS_STATUS_FLAGS_GPS1_RTK_BASE_POSITION_INVALID: ptr += SNPRINTF(ptr, ptrEnd - ptr, "Moving invalid, "); break;
}
}
if (gps.status&GPS_STATUS_FLAGS_GPS2_RTK_COMPASS_ENABLED)
{
if (gps.status&GPS_STATUS_FLAGS_GPS2_RTK_COMPASS_ENABLED)
{
ptr += SNPRINTF(ptr, ptrEnd - ptr, "Compassing, ");
}
}
ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n");
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34 changes: 17 additions & 17 deletions src/data_sets.h
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Original file line number Diff line number Diff line change
Expand Up @@ -414,24 +414,24 @@ enum eGpsStatus
GPS_STATUS_FLAGS_RTK_FIX_AND_HOLD = (int)0x00040000, // RTK feedback on the integer solutions to drive the float biases towards the resolved integers
// GPS_STATUS_FLAGS_WEEK_VALID = (int)0x00040000,
// GPS_STATUS_FLAGS_TOW_VALID = (int)0x00080000,
GPS_STATUS_FLAGS_RTK_POSITION_ENABLED = (int)0x00100000, // RTK precision positioning mode enabled
GPS_STATUS_FLAGS_GPS1_RTK_POSITION_ENABLED = (int)0x00100000, // GPS1 RTK precision positioning mode enabled
GPS_STATUS_FLAGS_STATIC_MODE = (int)0x00200000, // Static mode
GPS_STATUS_FLAGS_RTK_COMPASSING_ENABLED = (int)0x00400000, // RTK moving base mode enabled
GPS_STATUS_FLAGS_RTK_RAW_GPS_DATA_ERROR = (int)0x00800000, // RTK error: observations or ephemeris are invalid or not received (i.e. RTK differential corrections)
GPS_STATUS_FLAGS_RTK_BASE_DATA_MISSING = (int)0x01000000, // RTK error: Either base observations or antenna position have not been received.
GPS_STATUS_FLAGS_RTK_BASE_POSITION_MOVING = (int)0x02000000, // RTK error: base position moved when it should be stationary
GPS_STATUS_FLAGS_RTK_BASE_POSITION_INVALID = (int)0x03000000, // RTK error: base position is invalid or not surveyed well
GPS_STATUS_FLAGS_RTK_BASE_POSITION_MASK = (int)0x03000000, // RTK error: base position error bitmask
GPS_STATUS_FLAGS_ERROR_MASK = (GPS_STATUS_FLAGS_RTK_RAW_GPS_DATA_ERROR|
GPS_STATUS_FLAGS_RTK_BASE_POSITION_MASK),
GPS_STATUS_FLAGS_RTK_POSITION_VALID = (int)0x04000000, // GPS1 RTK precision position and carrier phase range solution with fixed ambiguities (i.e. < 6cm horizontal accuracy). The carrier phase range solution with floating ambiguities occurs if GPS_STATUS_FIX_RTK_FIX is set and GPS_STATUS_FLAGS_RTK_POSITION_VALID is not set (i.e. > 6cm horizontal accuracy).
GPS_STATUS_FLAGS_RTK_COMPASSING_VALID = (int)0x08000000, // GPS2 RTK moving base heading. Indicates RTK fix and hold with single band RTK compassing.
GPS_STATUS_FLAGS_RTK_COMPASSING_BASELINE_BAD = (int)0x00002000,
GPS_STATUS_FLAGS_RTK_COMPASSING_BASELINE_UNSET = (int)0x00004000,
GPS_STATUS_FLAGS_RTK_COMPASSING_MASK = (GPS_STATUS_FLAGS_RTK_COMPASSING_ENABLED|
GPS_STATUS_FLAGS_RTK_COMPASSING_VALID|
GPS_STATUS_FLAGS_RTK_COMPASSING_BASELINE_BAD|
GPS_STATUS_FLAGS_RTK_COMPASSING_BASELINE_UNSET),
GPS_STATUS_FLAGS_GPS2_RTK_COMPASS_ENABLED = (int)0x00400000, // GPS2 RTK moving base mode enabled
GPS_STATUS_FLAGS_GPS1_RTK_RAW_GPS_DATA_ERROR = (int)0x00800000, // GPS1 RTK error: observations or ephemeris are invalid or not received (i.e. RTK differential corrections)
GPS_STATUS_FLAGS_GPS1_RTK_BASE_DATA_MISSING = (int)0x01000000, // GPS1 RTK error: Either base observations or antenna position have not been received.
GPS_STATUS_FLAGS_GPS1_RTK_BASE_POSITION_MOVING = (int)0x02000000, // GPS1 RTK error: base position moved when it should be stationary
GPS_STATUS_FLAGS_GPS1_RTK_BASE_POSITION_INVALID = (int)0x03000000, // GPS1 RTK error: base position is invalid or not surveyed well
GPS_STATUS_FLAGS_GPS1_RTK_BASE_POSITION_MASK = (int)0x03000000, // GPS1 RTK error: base position error bitmask
GPS_STATUS_FLAGS_ERROR_MASK = (GPS_STATUS_FLAGS_GPS1_RTK_RAW_GPS_DATA_ERROR|
GPS_STATUS_FLAGS_GPS1_RTK_BASE_POSITION_MASK),
GPS_STATUS_FLAGS_GPS1_RTK_POSITION_VALID = (int)0x04000000, // GPS1 RTK precision position and carrier phase range solution with fixed ambiguities (i.e. < 6cm horizontal accuracy). The carrier phase range solution with floating ambiguities occurs if GPS_STATUS_FIX_RTK_FIX is set and GPS_STATUS_FLAGS_GPS1_RTK_POSITION_VALID is not set (i.e. > 6cm horizontal accuracy).
GPS_STATUS_FLAGS_GPS2_RTK_COMPASS_VALID = (int)0x08000000, // GPS2 RTK moving base heading. Indicates RTK fix and hold with single band RTK compassing.
GPS_STATUS_FLAGS_GPS2_RTK_COMPASS_BASELINE_BAD = (int)0x00002000,
GPS_STATUS_FLAGS_GPS2_RTK_COMPASS_BASELINE_UNSET= (int)0x00004000,
GPS_STATUS_FLAGS_GPS2_RTK_COMPASS_MASK = (GPS_STATUS_FLAGS_GPS2_RTK_COMPASS_ENABLED|
GPS_STATUS_FLAGS_GPS2_RTK_COMPASS_VALID|
GPS_STATUS_FLAGS_GPS2_RTK_COMPASS_BASELINE_BAD|
GPS_STATUS_FLAGS_GPS2_RTK_COMPASS_BASELINE_UNSET),
GPS_STATUS_FLAGS_GPS_NMEA_DATA = (int)0x00008000, // 1 = Data from NMEA message
GPS_STATUS_FLAGS_GPS_PPS_TIMESYNC = (int)0x10000000, // Time is synchronized by GPS PPS.

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12 changes: 6 additions & 6 deletions src/protocol_nmea.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -860,8 +860,8 @@ int parse_nmea_gns(const char msg[], int msgSize, gps_pos_t *gpsPos, double date
fixType = GPS_STATUS_FIX_RTK_FIX;
statusFlags |=
GPS_STATUS_FLAGS_FIX_OK |
GPS_STATUS_FLAGS_RTK_POSITION_ENABLED |
GPS_STATUS_FLAGS_RTK_POSITION_VALID |
GPS_STATUS_FLAGS_GPS1_RTK_POSITION_ENABLED |
GPS_STATUS_FLAGS_GPS1_RTK_POSITION_VALID |
GPS_STATUS_FLAGS_RTK_FIX_AND_HOLD |
GPS_STATUS_FLAGS_DGPS_USED;
gpsPos->hAcc = 0.05f;
Expand All @@ -871,7 +871,7 @@ int parse_nmea_gns(const char msg[], int msgSize, gps_pos_t *gpsPos, double date
fixType = GPS_STATUS_FIX_RTK_FLOAT;
statusFlags |=
GPS_STATUS_FLAGS_FIX_OK |
GPS_STATUS_FLAGS_RTK_POSITION_ENABLED |
GPS_STATUS_FLAGS_GPS1_RTK_POSITION_ENABLED |
GPS_STATUS_FLAGS_DGPS_USED;
gpsPos->hAcc = 0.4f;
}
Expand Down Expand Up @@ -1000,7 +1000,7 @@ int parse_nmea_gga(const char msg[], int msgSize, gps_pos_t *gpsPos, double date
fixType = GPS_STATUS_FIX_RTK_FLOAT;
statusFlags |=
GPS_STATUS_FLAGS_FIX_OK |
GPS_STATUS_FLAGS_RTK_POSITION_ENABLED |
GPS_STATUS_FLAGS_GPS1_RTK_POSITION_ENABLED |
GPS_STATUS_FLAGS_DGPS_USED;
gpsPos->hAcc = 0.4f;
break;
Expand All @@ -1009,8 +1009,8 @@ int parse_nmea_gga(const char msg[], int msgSize, gps_pos_t *gpsPos, double date
fixType = GPS_STATUS_FIX_RTK_FIX;
statusFlags |=
GPS_STATUS_FLAGS_FIX_OK |
GPS_STATUS_FLAGS_RTK_POSITION_ENABLED |
GPS_STATUS_FLAGS_RTK_POSITION_VALID |
GPS_STATUS_FLAGS_GPS1_RTK_POSITION_ENABLED |
GPS_STATUS_FLAGS_GPS1_RTK_POSITION_VALID |
GPS_STATUS_FLAGS_RTK_FIX_AND_HOLD |
GPS_STATUS_FLAGS_DGPS_USED;
gpsPos->hAcc = 0.05f;
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