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Merge pull request #55 from wiedehopf/cpr_fix 

CPR / Position update fix / improvement
This commit is contained in:
Oliver Jowett 2019-12-04 18:36:07 +08:00 committed by GitHub
parent 105ec2098c f67a31823b
commit 201cb2f466
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 16 additions and 13 deletions
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29
track.c
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@ -540,8 +540,12 @@ static void updatePosition(struct aircraft *a, struct modesMessage *mm)
// Nonfatal, try again later.
Modes.stats_current.cpr_global_skipped++;
} else {
Modes.stats_current.cpr_global_ok++;
combine_validity(&a->position_valid, &a->cpr_even_valid, &a->cpr_odd_valid);
if (accept_data(&a->position_valid, mm->source)) {
Modes.stats_current.cpr_global_ok++;
} else {
Modes.stats_current.cpr_global_skipped++;
location_result = -2;
}
}
}
@ -549,17 +553,12 @@ static void updatePosition(struct aircraft *a, struct modesMessage *mm)
if (location_result == -1) {
location_result = doLocalCPR(a, mm, &new_lat, &new_lon, &new_nic, &new_rc);
if (location_result < 0) {
Modes.stats_current.cpr_local_skipped++;
} else {
if (location_result == 0 && accept_data(&a->position_valid, mm->source)) {
Modes.stats_current.cpr_local_ok++;
mm->cpr_relative = 1;
if (mm->cpr_odd) {
a->position_valid = a->cpr_odd_valid;
} else {
a->position_valid = a->cpr_even_valid;
}
} else {
Modes.stats_current.cpr_local_skipped++;
location_result = -1;
}
}
@ -895,6 +894,8 @@ static int altitude_to_feet(int raw, altitude_unit_t unit)
struct aircraft *trackUpdateFromMessage(struct modesMessage *mm)
{
struct aircraft *a;
unsigned int cpr_new = 0;
if (mm->msgtype == 32) {
// Mode A/C, just count it (we ignore SPI)
@ -1140,6 +1141,7 @@ struct aircraft *trackUpdateFromMessage(struct modesMessage *mm)
a->cpr_even_lat = mm->cpr_lat;
a->cpr_even_lon = mm->cpr_lon;
compute_nic_rc_from_message(mm, a, &a->cpr_even_nic, &a->cpr_even_rc);
cpr_new = 1;
}
// CPR, odd
@ -1148,6 +1150,7 @@ struct aircraft *trackUpdateFromMessage(struct modesMessage *mm)
a->cpr_odd_lat = mm->cpr_lat;
a->cpr_odd_lon = mm->cpr_lon;
compute_nic_rc_from_message(mm, a, &a->cpr_odd_nic, &a->cpr_odd_rc);
cpr_new = 1;
}
if (mm->accuracy.sda_valid && accept_data(&a->sda_valid, mm->source)) {
@ -1199,8 +1202,8 @@ struct aircraft *trackUpdateFromMessage(struct modesMessage *mm)
combine_validity(&a->altitude_geom_valid, &a->altitude_baro_valid, &a->geom_delta_valid);
}
// If we've got a new cprlat or cprlon
if (mm->cpr_valid) {
// If we've got a new cpr_odd or cpr_even
if (cpr_new) {
updatePosition(a, mm);
}