altoslib: Use sequence numbers to track GPS updates to AltosRecord

[fw/altos] / altoslib / AltosState.java

diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index ccbe498d5ca34dedaa3ee7be58512955f93e16d2..825306be998559373141bba449553019605fa18c 100644 (file)
--- 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)