*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
#include "ao.h"
#include "ao_log.h"
+#ifndef GPS_SPARSE_LOG
+#define GPS_SPARSE_LOG 0
+#endif
+
+#if GPS_SPARSE_LOG
+static int32_t prev_lat, prev_lon, int16_t prev_alt;
+static uint8_t has_prev, unmoving;
+
+#define GPS_SPARSE_UNMOVING_REPORTS 10
+#define GPS_SPARSE_UNMOVING_GROUND 10
+#define GPS_SPARSE_UNMOVING_AIR 10
+
+static uint8_t
+ao_gps_sparse_should_log(int32_t lat, int32_t lon, int16_t alt)
+{
+ uint8_t ret = 1;
+
+ if (has_prev && ao_log_running) {
+ uint32_t h = ao_distance(prev_lat, prev_lon, lat, lon);
+ uint16_t v = alt > prev_alt ? (alt - prev_alt) : (prev_alt - alt);
+
+ if (h < GPS_SPARSE_UNMOVING_GROUND && v < GPS_SPARSE_UNMOVING_AIR) {
+ if (unmoving < GPS_SPARSE_UNMOVING_REPORTS)
+ ++unmoving;
+ } else
+ unmoving = 0;
+ } else
+ unmoving = 0;
+
+ prev_lat = lat;
+ prev_lon = lon;
+ prev_alt = alt;
+ has_prev = 1;
+ return unmoving >= GPS_SPARSE_UNMOVING_REPORTS;
+}
+#endif
+
void
ao_gps_report_mega(void)
{
ao_gps_new = 0;
ao_mutex_put(&ao_gps_mutex);
+#if GPS_SPARSE_LOG
+ /* Don't log data if GPS has a fix and hasn't moved for a while */
+ if ((gps_data.flags & AO_GPS_VALID) &&
+ !ao_gps_sparse_should_log(gps_data.latitude, gps_data.longitude,
+ AO_TELEMETRY_LOCATION_ALTITUDE(&gps_data))
+ continue;
+#endif
if ((new & AO_GPS_NEW_DATA) && (gps_data.flags & AO_GPS_VALID)) {
+
gps_log.tick = ao_gps_tick;
gps_log.type = AO_LOG_GPS_TIME;
gps_log.u.gps.latitude = gps_data.latitude;
gps_log.u.gps.longitude = gps_data.longitude;
- gps_log.u.gps.altitude = gps_data.altitude;
-
+ gps_log.u.gps.altitude_low = gps_data.altitude_low;
+ gps_log.u.gps.altitude_high = gps_data.altitude_high;
gps_log.u.gps.hour = gps_data.hour;
gps_log.u.gps.minute = gps_data.minute;
gps_log.u.gps.second = gps_data.second;
gps_log.u.gps.hdop = gps_data.hdop;
gps_log.u.gps.vdop = gps_data.vdop;
gps_log.u.gps.mode = gps_data.mode;
- ao_log_mega(&gps_log);
+ ao_log_write(&gps_log);
}
if ((new & AO_GPS_NEW_TRACKING) && (n = gps_tracking_data.channels) != 0) {
gps_log.tick = ao_gps_tick;
break;
}
gps_log.u.gps_sat.channels = i;
- ao_log_mega(&gps_log);
+ ao_log_write(&gps_log);
}
}
}