X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_gps_report_mega.c;h=37f1beaa9b1d5d1314c87a7fe2f8b8926bd60d56;hb=188f9efadd480de872f86a8eb741e8738db84c6b;hp=5e3c71bfa309e1ecb6f3fecb954dde596ff12283;hpb=24167015705ae831692b95735968b04a876f935e;p=fw%2Faltos

diff --git a/src/kernel/ao_gps_report_mega.c b/src/kernel/ao_gps_report_mega.c
index 5e3c71bf..37f1beaa 100644
--- a/src/kernel/ao_gps_report_mega.c
+++ b/src/kernel/ao_gps_report_mega.c
@@ -3,7 +3,8 @@
  *
  * 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
@@ -18,12 +19,49 @@
 #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)
 {
-	static __xdata struct ao_log_mega		gps_log;
-	static __xdata struct ao_telemetry_location	gps_data;
-	static __xdata struct ao_telemetry_satellite	gps_tracking_data;
+	static struct ao_log_mega		gps_log;
+	static struct ao_telemetry_location	gps_data;
+	static struct ao_telemetry_satellite	gps_tracking_data;
 	uint8_t	new;
 	uint8_t	c, n, i;
 
@@ -38,13 +76,21 @@ 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;
@@ -59,7 +105,7 @@ ao_gps_report_mega(void)
 			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;
@@ -74,12 +120,12 @@ ao_gps_report_mega(void)
 						break;
 				}
 			gps_log.u.gps_sat.channels = i;
-			ao_log_mega(&gps_log);
+			ao_log_write(&gps_log);
 		}
 	}
 }
 
-__xdata struct ao_task ao_gps_report_mega_task;
+struct ao_task ao_gps_report_mega_task;
 
 void
 ao_gps_report_mega_init(void)