diff options
Diffstat (limited to 'altoslib')
| -rw-r--r-- | altoslib/AltosEepromIterable.java | 2 | ||||
| -rw-r--r-- | altoslib/AltosEepromMegaIterable.java | 2 | ||||
| -rw-r--r-- | altoslib/AltosIdleMonitor.java | 2 | ||||
| -rw-r--r-- | altoslib/AltosRecord.java | 6 | ||||
| -rw-r--r-- | altoslib/AltosState.java | 7 | ||||
| -rw-r--r-- | altoslib/AltosTelemetryRecordLegacy.java | 6 | ||||
| -rw-r--r-- | altoslib/AltosTelemetryRecordLocation.java | 2 |
7 files changed, 15 insertions, 12 deletions
diff --git a/altoslib/AltosEepromIterable.java b/altoslib/AltosEepromIterable.java index 7a8bbdea..b84574ef 100644 --- a/altoslib/AltosEepromIterable.java +++ b/altoslib/AltosEepromIterable.java @@ -125,7 +125,7 @@ public class AltosEepromIterable extends AltosRecordIterable { state.gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0; state.gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >> AltosLib.AO_GPS_NUM_SAT_SHIFT; - state.new_gps = true; + state.gps_sequence++; has_gps = true; break; case AltosLib.AO_LOG_GPS_LAT: diff --git a/altoslib/AltosEepromMegaIterable.java b/altoslib/AltosEepromMegaIterable.java index a127f435..5736f937 100644 --- a/altoslib/AltosEepromMegaIterable.java +++ b/altoslib/AltosEepromMegaIterable.java @@ -136,7 +136,7 @@ public class AltosEepromMegaIterable extends AltosRecordIterable { state.gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0; state.gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >> AltosLib.AO_GPS_NUM_SAT_SHIFT; - state.new_gps = true; + state.gps_sequence++; has_gps = true; eeprom.seen |= seen_gps_time | seen_gps_lat | seen_gps_lon; break; diff --git a/altoslib/AltosIdleMonitor.java b/altoslib/AltosIdleMonitor.java index 2e4ddef2..b3ce5b20 100644 --- a/altoslib/AltosIdleMonitor.java +++ b/altoslib/AltosIdleMonitor.java @@ -112,7 +112,7 @@ public class AltosIdleMonitor extends Thread { record.status = 0; record.state = AltosLib.ao_flight_idle; record.gps = gps; - record.new_gps = true; + record.gps_sequence++; state = new AltosState (record, state); } finally { if (remote) { diff --git a/altoslib/AltosRecord.java b/altoslib/AltosRecord.java index 07e910eb..5e4ed927 100644 --- a/altoslib/AltosRecord.java +++ b/altoslib/AltosRecord.java @@ -44,7 +44,7 @@ public class AltosRecord implements Comparable <AltosRecord>, Cloneable { public int tick; public AltosGPS gps; - public boolean new_gps; + public int gps_sequence; public double time; /* seconds since boost */ @@ -143,7 +143,7 @@ public class AltosRecord implements Comparable <AltosRecord>, Cloneable { state = old.state; tick = old.tick; gps = new AltosGPS(old.gps); - new_gps = old.new_gps; + gps_sequence = old.gps_sequence; companion = old.companion; kalman_acceleration = old.kalman_acceleration; kalman_speed = old.kalman_speed; @@ -161,7 +161,7 @@ public class AltosRecord implements Comparable <AltosRecord>, Cloneable { state = AltosLib.ao_flight_startup; tick = 0; gps = null; - new_gps = false; + gps_sequence = 0; companion = null; kalman_acceleration = MISSING; diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java index ccbe498d..825306be 100644 --- a/altoslib/AltosState.java +++ b/altoslib/AltosState.java @@ -54,6 +54,7 @@ public class AltosState { public double max_baro_speed; public AltosGPS gps; + public int gps_sequence; public AltosIMU imu; public AltosMag mag; @@ -133,6 +134,7 @@ public class AltosState { npad = prev_state.npad; ngps = prev_state.ngps; gps = prev_state.gps; + gps_sequence = prev_state.gps_sequence; pad_lat = prev_state.pad_lat; pad_lon = prev_state.pad_lon; pad_alt = prev_state.pad_alt; @@ -187,6 +189,7 @@ public class AltosState { npad = 0; ngps = 0; gps = null; + gps_sequence = 0; baro_speed = AltosRecord.MISSING; accel_speed = AltosRecord.MISSING; pad_alt = AltosRecord.MISSING; @@ -199,7 +202,7 @@ public class AltosState { time = tick / 100.0; - if (cur.new_gps && (state < AltosLib.ao_flight_boost)) { + if (data.gps != null && data.gps_sequence != gps_sequence && (state < AltosLib.ao_flight_boost)) { /* Track consecutive 'good' gps reports, waiting for 10 of them */ if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) @@ -226,7 +229,7 @@ public class AltosState { pad_alt = ground_altitude; } - data.new_gps = false; + gps_sequence = data.gps_sequence; gps_waiting = MIN_PAD_SAMPLES - npad; if (gps_waiting < 0) diff --git a/altoslib/AltosTelemetryRecordLegacy.java b/altoslib/AltosTelemetryRecordLegacy.java index a734b188..f2d3f868 100644 --- a/altoslib/AltosTelemetryRecordLegacy.java +++ b/altoslib/AltosTelemetryRecordLegacy.java @@ -267,7 +267,7 @@ public class AltosTelemetryRecordLegacy extends AltosTelemetryRecord { if (map.has(AO_TELEM_GPS_STATE)) { record.gps = new AltosGPS(map); - record.new_gps = true; + record.gps_sequence++; } else record.gps = null; @@ -357,7 +357,7 @@ public class AltosTelemetryRecordLegacy extends AltosTelemetryRecord { } record.gps = new AltosGPS(words, i, record.version); - record.new_gps = true; + record.gps_sequence++; } public AltosTelemetryRecordLegacy(String line) throws ParseException, AltosCRCException { @@ -476,7 +476,7 @@ public class AltosTelemetryRecordLegacy extends AltosTelemetryRecord { if ((gps_flags & (AO_GPS_VALID|AO_GPS_RUNNING)) != 0) { record.gps = new AltosGPS(); - record.new_gps = true; + record.gps_sequence++; record.seen |= AltosRecord.seen_gps_time | AltosRecord.seen_gps_lat | AltosRecord.seen_gps_lon; record.gps.nsat = (gps_flags & AO_GPS_NUM_SAT_MASK); diff --git a/altoslib/AltosTelemetryRecordLocation.java b/altoslib/AltosTelemetryRecordLocation.java index 02999696..0236d291 100644 --- a/altoslib/AltosTelemetryRecordLocation.java +++ b/altoslib/AltosTelemetryRecordLocation.java @@ -85,7 +85,7 @@ public class AltosTelemetryRecordLocation extends AltosTelemetryRecordRaw { next.gps.hdop = hdop; next.gps.vdop = vdop; next.seen |= AltosRecord.seen_gps_time | AltosRecord.seen_gps_lat | AltosRecord.seen_gps_lon; - next.new_gps = true; + next.gps_sequence++; } return next; |