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| author | Eric S. Raymond <esr@thyrsus.com> | 2010-04-20 22:32:55 -0400 |
|---|---|---|
| committer | Eric S. Raymond <esr@thyrsus.com> | 2010-04-20 22:32:55 -0400 |
| commit | ccdf4e5641f8847cd49ead381e21b3d28cd0bcc2 (patch) | |
| tree | 9fac7198fa75a341fa7833222dc327c6852c3372 /driver_proto.c | |
| parent | d766ad888f1c7de697cbd4294c38aa3b06dddd85 (diff) | |
| download | gpsd-ccdf4e5641f8847cd49ead381e21b3d28cd0bcc2.tar.gz | |
Clear DOPs only when we get a skyview report.
This solves the disappearing epx/epy bug on SiRFs, but it was actually a
systemic problem that affected several drivers. Navigation solution messages
were clearing DOPs, making it impossible for the error modeller to compute
estimates. New logic: Clear DOPs only when we get a skyview report. They'll
be regenerated by our visibility-matrix calculation when the skyview sentence
is analyzed.
If a sentence from the device supplies a DOP between the time the visibility
calculation is done and when the next fix is reported, it will override
our computed value. This might change later!
This change required a regression-test rebuild.
Diffstat (limited to 'driver_proto.c')
| -rw-r--r-- | driver_proto.c | 14 |
1 files changed, 9 insertions, 5 deletions
diff --git a/driver_proto.c b/driver_proto.c index 79fa4b7b..367158ab 100644 --- a/driver_proto.c +++ b/driver_proto.c @@ -51,10 +51,6 @@ #include "bits.h" -/* - * These routines are specific to this driver - */ - static gps_mask_t _proto__parse_input(struct gps_device_t *); static gps_mask_t _proto__dispatch(struct gps_device_t *, unsigned char *, size_t ); static gps_mask_t _proto__msg_navsol(struct gps_device_t *, unsigned char *, size_t ); @@ -102,7 +98,15 @@ _proto__msg_navsol(struct gps_device_t *session, unsigned char *buf, size_t data session->newdata.epy = GET_LATITUDE_ERROR(); session->newdata.eps = GET_SPEED_ERROR(); session->gpsdata.satellites_used = GET_SATELLITES_USED(); - dop_clear(&session->gpsdata.dop); + /* + * Do *not* clear DOPs in a navigation solution message; + * instead, opportunistically pick up whatever it gives + * us and replace whatever values we computed from the + * visibility matrix for he last skyview. The reason to trust + * the chip returns over what we compute is that some + * chips have internal deweighting albums to throw out sats + * that increase DOP. + */ session->gpsdata.dop.hdop = GET_HDOP(); session->gpsdata.dop.vdop = GET_VDOP(); /* other DOP if available */ |