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Update GxGSV NMEA 4.10 - Add Signal averaging - Update gpsinformationwidget (#58357)
* Add signal_id; //!< NMEA v4.1 - ID of the ranging signal NMEA RMC - Set qualitydescription only for status: A or V in processRmcSentence NMEA GSV - Add Signal averaging processGsvSentence Update for Status not A, V - for UM982 Status = D - Differential when it becomes RTKfix
This commit is contained in:
Mauro Bettella
GitHub
parent
c55e712997
commit
2027519a15
63
external/nmea/parse.c
vendored
63
external/nmea/parse.c
vendored
@ -335,6 +335,7 @@ int nmea_parse_GPGSA( const char *buff, int buff_sz, nmeaGPGSA *pack )
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int nmea_parse_GPGSV( const char *buff, int buff_sz, nmeaGPGSV *pack )
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{
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int nsen, nsat;
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int has_signal_id = 0;
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NMEA_ASSERT( buff && pack );
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@ -342,29 +343,63 @@ int nmea_parse_GPGSV( const char *buff, int buff_sz, nmeaGPGSV *pack )
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nmea_trace_buff( buff, buff_sz );
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nsen = nmea_scanf( buff, buff_sz,
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"$%C%CGSV,%d,%d,%d,"
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"%d,%d,%d,%d,"
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"%d,%d,%d,%d,"
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"%d,%d,%d,%d,"
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"%d,%d,%d,%d*",
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&( pack->talkerId[0] ), &( pack->talkerId[1] ),
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&( pack->pack_count ), &( pack->pack_index ), &( pack->sat_count ),
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&( pack->sat_data[0].id ), &( pack->sat_data[0].elv ), &( pack->sat_data[0].azimuth ), &( pack->sat_data[0].sig ),
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&( pack->sat_data[1].id ), &( pack->sat_data[1].elv ), &( pack->sat_data[1].azimuth ), &( pack->sat_data[1].sig ),
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&( pack->sat_data[2].id ), &( pack->sat_data[2].elv ), &( pack->sat_data[2].azimuth ), &( pack->sat_data[2].sig ),
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&( pack->sat_data[3].id ), &( pack->sat_data[3].elv ), &( pack->sat_data[3].azimuth ), &( pack->sat_data[3].sig ) );
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// Count the number of fields in the sentence
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const char *ptr = buff;
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int field_count = 1;
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while ( ( ptr = strchr( ptr, ',' ) ) != NULL )
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{
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field_count++;
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ptr++;
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}
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// Check if the number of fields is even, indicating the presence of SIGNAL_ID
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has_signal_id = field_count >= 21 ? 1 : 0;
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if ( has_signal_id )
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{
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// SIGNAL_ID is present NMEA 4.10
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nsen = nmea_scanf( buff, buff_sz,
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"$%C%CGSV,%d,%d,%d,"
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"%d,%d,%d,%d,"
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"%d,%d,%d,%d,"
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"%d,%d,%d,%d,"
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"%d,%d,%d,%d,%d*",
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&( pack->talkerId[0] ), &( pack->talkerId[1] ),
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&( pack->pack_count ), &( pack->pack_index ), &( pack->sat_count ),
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&( pack->sat_data[0].id ), &( pack->sat_data[0].elv ), &( pack->sat_data[0].azimuth ), &( pack->sat_data[0].sig ),
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&( pack->sat_data[1].id ), &( pack->sat_data[1].elv ), &( pack->sat_data[1].azimuth ), &( pack->sat_data[1].sig ),
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&( pack->sat_data[2].id ), &( pack->sat_data[2].elv ), &( pack->sat_data[2].azimuth ), &( pack->sat_data[2].sig ),
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&( pack->sat_data[3].id ), &( pack->sat_data[3].elv ), &( pack->sat_data[3].azimuth ), &( pack->sat_data[3].sig ),
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&( pack->signal_id ) );
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}
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else
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{
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// SIGNAL_ID is not present
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nsen = nmea_scanf( buff, buff_sz,
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"$%C%CGSV,%d,%d,%d,"
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"%d,%d,%d,%d,"
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"%d,%d,%d,%d,"
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"%d,%d,%d,%d,"
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"%d,%d,%d,%d*",
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&( pack->talkerId[0] ), &( pack->talkerId[1] ),
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&( pack->pack_count ), &( pack->pack_index ), &( pack->sat_count ),
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&( pack->sat_data[0].id ), &( pack->sat_data[0].elv ), &( pack->sat_data[0].azimuth ), &( pack->sat_data[0].sig ),
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&( pack->sat_data[1].id ), &( pack->sat_data[1].elv ), &( pack->sat_data[1].azimuth ), &( pack->sat_data[1].sig ),
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&( pack->sat_data[2].id ), &( pack->sat_data[2].elv ), &( pack->sat_data[2].azimuth ), &( pack->sat_data[2].sig ),
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&( pack->sat_data[3].id ), &( pack->sat_data[3].elv ), &( pack->sat_data[3].azimuth ), &( pack->sat_data[3].sig ) );
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}
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nsat = ( pack->pack_index - 1 ) * NMEA_SATINPACK;
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nsat = ( nsat + NMEA_SATINPACK > pack->sat_count ) ? pack->sat_count - nsat : NMEA_SATINPACK;
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nsat = nsat * 4 + 3 /* first three sentence`s */;
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if ( nsen - 2 < nsat || nsen - 2 > ( NMEA_SATINPACK * 4 + 3 ) )
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int expected_nsen = has_signal_id ? ( NMEA_SATINPACK * 4 + 4 ) : ( NMEA_SATINPACK * 4 + 3 );
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if ( nsen - 2 < nsat || nsen - 2 > expected_nsen )
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{
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nmea_error( "GSV parse error!" );
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return 0;
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}
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return 1;
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}
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1
external/nmea/sentence.h
vendored
1
external/nmea/sentence.h
vendored
@ -100,6 +100,7 @@ typedef struct _nmeaGPGSV
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int pack_index; //!< Message number
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int sat_count; //!< Total number of satellites in view
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nmeaSATELLITE sat_data[NMEA_SATINPACK];
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char signal_id; //!< NMEA v4.1 - ID of the ranging signal
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} nmeaGPGSV;
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@ -43,6 +43,7 @@
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#include <qwt_polar_grid.h>
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#include <qwt_polar_curve.h>
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#include <qwt_scale_engine.h>
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// #include <qwt_symbol.h>
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#endif
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#include <QMessageBox>
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@ -82,18 +83,18 @@ QgsGpsInformationWidget::QgsGpsInformationWidget( QgsAppGpsConnection *connectio
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//
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mPlot = new QwtPlot( mpHistogramWidget );
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mPlot->setAutoReplot( false ); // plot on demand
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//mPlot->setTitle(QObject::tr("Signal Status"));
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//mPlot->insertLegend(new QwtLegend(), QwtPlot::BottomLegend);
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// mPlot->setTitle(QObject::tr("Signal Status"));
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// mPlot->insertLegend(new QwtLegend(), QwtPlot::BottomLegend);
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// Set axis titles
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//mPlot->setAxisTitle(QwtPlot::xBottom, QObject::tr("Satellite"));
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//mPlot->setAxisTitle(QwtPlot::yLeft, QObject::tr("Value"));
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// mPlot->setAxisTitle(QwtPlot::xBottom, QObject::tr("Satellite"));
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// mPlot->setAxisTitle(QwtPlot::yLeft, QObject::tr("Value"));
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mPlot->setAxisScale( QwtPlot::xBottom, 0, 20 );
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mPlot->setAxisScale( QwtPlot::yLeft, 0, 60 ); // max is 50dB SNR, I believe - SLM
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// add a grid
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QwtPlotGrid *mGrid = new QwtPlotGrid();
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mGrid->enableX( false );
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mGrid->attach( mPlot );
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//display satellites first
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// display satellites first
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mCurve = new QwtPlotCurve();
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mCurve->setRenderHint( QwtPlotItem::RenderAntialiased );
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mCurve->setPen( QPen( Qt::blue ) );
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@ -101,7 +102,7 @@ QgsGpsInformationWidget::QgsGpsInformationWidget( QgsAppGpsConnection *connectio
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mPlot->enableAxis( QwtPlot::yLeft, true );
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mPlot->enableAxis( QwtPlot::xBottom, false );
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mCurve->attach( mPlot );
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//ensure all children get removed
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// ensure all children get removed
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mPlot->setAutoDelete( true );
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QVBoxLayout *mpHistogramLayout = new QVBoxLayout( mpHistogramWidget );
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mpHistogramLayout->setContentsMargins( 0, 0, 0, 0 );
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@ -118,17 +119,17 @@ QgsGpsInformationWidget::QgsGpsInformationWidget( QgsAppGpsConnection *connectio
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mpSatellitesWidget->setPlotBackground( Qt::white );
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// scales
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mpSatellitesWidget->setScale( QwtPolar::ScaleAzimuth,
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360, //min - reverse the min/max values to get compass orientation - increasing clockwise
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0, //max
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90 //interval - just show cardinal and intermediate (NE, N, NW, etc.) compass points (in degrees)
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360, // min - reverse the min/max values to get compass orientation - increasing clockwise
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0, // max
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90 // interval - just show cardinal and intermediate (NE, N, NW, etc.) compass points (in degrees)
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);
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mpSatellitesWidget->setAzimuthOrigin( M_PI_2 ); // to get compass orientation - need to rotate 90 deg. ccw; this is in Radians (not indicated in QwtPolarPlot docs)
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// mpSatellitesWidget->setScaleMaxMinor( QwtPolar::ScaleRadius, 2 ); // seems unnecessary
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// mpSatellitesWidget->setScaleMaxMinor( QwtPolar::ScaleRadius, 2 ); // seems unnecessary
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mpSatellitesWidget->setScale( QwtPolar::ScaleRadius,
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90, //min - reverse the min/max to get 0 at edge, 90 at center
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0, //max
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45 //interval
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90, // min - reverse the min/max to get 0 at edge, 90 at center
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0, // max
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45 // interval
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);
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// grids, axes
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@ -138,25 +139,25 @@ QgsGpsInformationWidget::QgsGpsInformationWidget( QgsAppGpsConnection *connectio
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QPen minorPen( Qt::gray ); // moved outside of for loop; NOTE setting the minor pen isn't necessary if the minor grids aren't shown
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for ( int scaleId = 0; scaleId < QwtPolar::ScaleCount; scaleId++ )
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{
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//mpSatellitesGrid->showGrid( scaleId );
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//mpSatellitesGrid->showMinorGrid(scaleId);
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// mpSatellitesGrid->showGrid( scaleId );
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// mpSatellitesGrid->showMinorGrid(scaleId);
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mpSatellitesGrid->setMinorGridPen( scaleId, minorPen );
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}
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// mpSatellitesGrid->setAxisPen( QwtPolar::AxisAzimuth, QPen( Qt::black ) );
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// mpSatellitesGrid->setAxisPen( QwtPolar::AxisAzimuth, QPen( Qt::black ) );
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mpSatellitesGrid->showAxis( QwtPolar::AxisAzimuth, true );
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mpSatellitesGrid->showAxis( QwtPolar::AxisLeft, false ); //alt axis
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mpSatellitesGrid->showAxis( QwtPolar::AxisRight, false ); //alt axis
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mpSatellitesGrid->showAxis( QwtPolar::AxisTop, false ); //alt axis
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mpSatellitesGrid->showAxis( QwtPolar::AxisBottom, false ); //alt axis
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mpSatellitesGrid->showAxis( QwtPolar::AxisLeft, false ); // alt axis
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mpSatellitesGrid->showAxis( QwtPolar::AxisRight, false ); // alt axis
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mpSatellitesGrid->showAxis( QwtPolar::AxisTop, false ); // alt axis
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mpSatellitesGrid->showAxis( QwtPolar::AxisBottom, false ); // alt axis
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mpSatellitesGrid->showGrid( QwtPolar::ScaleAzimuth, false ); // hide the grid; just show ticks at edge
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mpSatellitesGrid->showGrid( QwtPolar::ScaleRadius, true );
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// mpSatellitesGrid->showMinorGrid( QwtPolar::ScaleAzimuth, true );
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// mpSatellitesGrid->showMinorGrid( QwtPolar::ScaleAzimuth, true );
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mpSatellitesGrid->showMinorGrid( QwtPolar::ScaleRadius, true ); // for 22.5, 67.5 degree circles
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mpSatellitesGrid->attach( mpSatellitesWidget );
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//QwtLegend *legend = new QwtLegend;
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//mpSatellitesWidget->insertLegend(legend, QwtPolarPlot::BottomLegend);
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// QwtLegend *legend = new QwtLegend;
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// mpSatellitesWidget->insertLegend(legend, QwtPolarPlot::BottomLegend);
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QVBoxLayout *mpPolarLayout = new QVBoxLayout( mpPolarWidget );
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mpPolarLayout->setContentsMargins( 0, 0, 0, 0 );
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mpPolarLayout->addWidget( mpSatellitesWidget );
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@ -366,41 +367,36 @@ void QgsGpsInformationWidget::displayGPSInformation( const QgsGpsInformation &in
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{
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QVector<QPointF> data;
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if ( mStackedWidget->currentIndex() == 1 && info.satInfoComplete ) //signal
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{
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mPlot->setAxisScale( QwtPlot::xBottom, 0, info.satellitesInView.size() );
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} //signal
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#ifdef WITH_QWTPOLAR
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if ( mStackedWidget->currentIndex() == 2 && info.satInfoComplete ) //satellites
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if ( mStackedWidget->currentIndex() == 2 && info.satInfoComplete ) // satellites
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{
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while ( !mMarkerList.isEmpty() )
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{
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delete mMarkerList.takeFirst();
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}
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} //satellites
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} // satellites
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#endif
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if ( mStackedWidget->currentIndex() == 3 ) //debug
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if ( mStackedWidget->currentIndex() == 3 ) // debug
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{
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mGPSPlainTextEdit->clear();
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} //debug
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} // debug
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for ( int i = 0; i < info.satellitesInView.size(); ++i ) //satellite processing loop
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for ( int i = 0; i < info.satellitesInView.size(); ++i ) // satellite processing loop
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{
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const QgsSatelliteInfo currentInfo = info.satellitesInView.at( i );
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if ( mStackedWidget->currentIndex() == 1 && info.satInfoComplete ) //signal
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if ( mStackedWidget->currentIndex() == 1 && info.satInfoComplete ) // signal
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{
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data << QPointF( i, 0 );
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data << QPointF( i, currentInfo.signal );
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data << QPointF( i + 1, currentInfo.signal );
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data << QPointF( i + 1, 0 );
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} //signal
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} // signal
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if ( mStackedWidget->currentIndex() == 2 && info.satInfoComplete ) //satellites
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if ( mStackedWidget->currentIndex() == 2 && info.satInfoComplete ) // satellites
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{
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QColor bg( Qt::white ); // moved several items outside of the following if block to minimize loop time
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bg.setAlpha( 200 );
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QColor myColor;
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// Add a marker to the polar plot
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if ( currentInfo.id > 0 ) // don't show satellite if id=0 (no satellite indication)
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@ -413,22 +409,61 @@ void QgsGpsInformationWidget::displayGPSInformation( const QgsGpsInformation &in
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mypMarker->setPosition( QwtPointPolar( currentInfo.azimuth, currentInfo.elevation ) );
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#endif
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#endif
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if ( currentInfo.signal < 30 ) //weak signal
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#ifdef WITH_QWTPOLAR
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// QBrush symbolBrush( Qt::black );
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QSize markerSize( 10, 10 );
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QBrush textBgBrush( bg );
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QBrush symbolBrush;
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QColor myColor( Qt::black );
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QColor penColor( Qt::black );
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QwtSymbol::Style symbolStyle;
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if ( currentInfo.satType == 'P' )
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{
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myColor = Qt::red;
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symbolStyle = QwtSymbol::Ellipse; // GPS
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myColor = QColor( 50, 205, 20 ); // limegreen
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}
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else if ( currentInfo.satType == 'L' )
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{
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symbolStyle = QwtSymbol::Rect; // GLONASS
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myColor = QColor( 255, 165, 0 ); // orange
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}
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else if ( currentInfo.satType == 'B' )
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{
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symbolStyle = QwtSymbol::Diamond; // BEIDOU
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myColor = QColor( 128, 0, 128 ); // purple
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}
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else if ( currentInfo.satType == 'A' )
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{
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symbolStyle = QwtSymbol::Triangle; // GALILEO
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myColor = QColor( 0, 0, 255 ); // blue
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}
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else if ( currentInfo.satType == 'Q' )
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{
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symbolStyle = QwtSymbol::Cross; // QZSS
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myColor = QColor( 255, 0, 255 ); // magenta
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}
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else
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{
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myColor = Qt::black; //strong signal
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symbolStyle = QwtSymbol::Ellipse; // N, S
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myColor = QColor( 128, 128, 128 ); // gray
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}
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#ifdef WITH_QWTPOLAR
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QBrush symbolBrush( Qt::black );
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QSize markerSize( 9, 9 );
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QBrush textBgBrush( bg );
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penColor = myColor;
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symbolBrush = QBrush( myColor );
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if ( currentInfo.signal < 30 ) // weak signal
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{
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penColor = Qt::red; // red border
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}
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if ( currentInfo.inUse )
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{
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penColor = Qt::black; // black border
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}
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#if ( QWT_POLAR_VERSION < 0x010000 )
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mypMarker->setSymbol( QwtSymbol( QwtSymbol::Ellipse, symbolBrush, QPen( myColor ), markerSize ) );
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mypMarker->setSymbol( QwtSymbol( symbolStyle, symbolBrush, QPen( penColor ), markerSize ) );
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#else
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mypMarker->setSymbol( new QwtSymbol( QwtSymbol::Ellipse, symbolBrush, QPen( myColor ), markerSize ) );
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mypMarker->setSymbol( new QwtSymbol( symbolStyle, symbolBrush, QPen( penColor ), markerSize ) );
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#endif
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mypMarker->setLabelAlignment( Qt::AlignHCenter | Qt::AlignTop );
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@ -440,19 +475,20 @@ void QgsGpsInformationWidget::displayGPSInformation( const QgsGpsInformation &in
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mMarkerList << mypMarker;
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#endif
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} // currentInfo.id > 0
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} //satellites
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} //satellite processing loop
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} // satellites
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} // satellite processing loop
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if ( mStackedWidget->currentIndex() == 1 && info.satInfoComplete ) //signal
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if ( mStackedWidget->currentIndex() == 1 && info.satInfoComplete ) // signal
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{
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mPlot->setAxisScale( QwtPlot::xBottom, 0, info.satellitesInView.size() );
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mCurve->setSamples( data );
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mPlot->replot();
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} //signal
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} // signal
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#ifdef WITH_QWTPOLAR
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if ( mStackedWidget->currentIndex() == 2 && info.satInfoComplete ) //satellites
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if ( mStackedWidget->currentIndex() == 2 && info.satInfoComplete ) // satellites
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{
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mpSatellitesWidget->replot();
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} //satellites
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} // satellites
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#endif
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const bool validFlag = info.isValid();
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@ -466,7 +502,7 @@ void QgsGpsInformationWidget::displayGPSInformation( const QgsGpsInformation &in
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myNewCenter = mLastGpsPosition;
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}
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if ( mStackedWidget->currentIndex() == 0 ) //position
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if ( mStackedWidget->currentIndex() == 0 ) // position
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{
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QString formattedX;
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QString formattedY;
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@ -485,7 +521,7 @@ void QgsGpsInformationWidget::displayGPSInformation( const QgsGpsInformation &in
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}
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else
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{
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mTxtDateTime->setText( info.utcDateTime.toString( mDateTimeFormat ) ); //user specified format string for testing the millisecond part of time
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mTxtDateTime->setText( info.utcDateTime.toString( mDateTimeFormat ) ); // user specified format string for testing the millisecond part of time
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}
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if ( std::isfinite( info.speed ) )
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{
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@ -548,7 +584,7 @@ void QgsGpsInformationWidget::displayGPSInformation( const QgsGpsInformation &in
|
||||
mTxtQuality->setText( info.qualityDescription() );
|
||||
mTxtSatellitesUsed->setText( tr( "%1 used (%2 in view)" ).arg( info.satellitesUsed ).arg( info.satellitesInView.size() ) );
|
||||
mTxtStatus->setText( info.status == 'A' ? tr( "Valid" ) : info.status == 'V' ? tr( "Invalid" )
|
||||
: QString() );
|
||||
: tr( "Other (%1)" ).arg( info.status ) );
|
||||
}
|
||||
|
||||
if ( mLastGpsPosition != myNewCenter )
|
||||
|
||||
@ -50,16 +50,15 @@ bool QgsGpsInformation::isValid() const
|
||||
{
|
||||
valid = false;
|
||||
}
|
||||
else if ( status == 'A'
|
||||
else if ( status == 'A' || status == 'D'
|
||||
|| bestFix == Qgis::GpsFixStatus::Fix2D
|
||||
|| bestFix == Qgis::GpsFixStatus::Fix3D
|
||||
|| ( qualityIndicator != Qgis::GpsQualityIndicator::Invalid ) ) // good
|
||||
|| ( qualityIndicator != Qgis::GpsQualityIndicator::Invalid ) ) // good - D=Differential for UM98x
|
||||
{
|
||||
valid = true;
|
||||
}
|
||||
|
||||
valid &= longitude >= -180.0 && longitude <= 180.0 && latitude >= -90.0 && latitude <= 90.0;
|
||||
|
||||
return valid;
|
||||
}
|
||||
|
||||
|
||||
@ -1,3 +1,4 @@
|
||||
|
||||
/***************************************************************************
|
||||
qgsnmeaconnection.cpp - description
|
||||
---------------------
|
||||
@ -177,6 +178,11 @@ void QgsNmeaConnection::processStringBuffer()
|
||||
}
|
||||
emit nmeaSentenceReceived( substring ); // added to be able to save raw data
|
||||
}
|
||||
else
|
||||
{
|
||||
//other text strings that do not start with '$'
|
||||
mLastGPSInformation.satInfoComplete = true;
|
||||
}
|
||||
}
|
||||
mStringBuffer.remove( 0, endSentenceIndex + 2 );
|
||||
}
|
||||
@ -310,7 +316,8 @@ void QgsNmeaConnection::processRmcSentence( const char *data, int len )
|
||||
|
||||
// convert mode to signal (aka quality) indicator
|
||||
// (see https://gitlab.com/fhuberts/nmealib/-/blob/master/src/info.c#L27)
|
||||
if ( result.status == 'A' )
|
||||
// UM98x Status == D (Differential)
|
||||
if ( result.status == 'A' || result.status == 'D' )
|
||||
{
|
||||
if ( result.mode == 'A' )
|
||||
{
|
||||
@ -358,11 +365,12 @@ void QgsNmeaConnection::processRmcSentence( const char *data, int len )
|
||||
mLastGPSInformation.qualityIndicator = Qgis::GpsQualityIndicator::Unknown;
|
||||
}
|
||||
}
|
||||
else
|
||||
else if ( result.status == 'V' )
|
||||
{
|
||||
mLastGPSInformation.quality = static_cast<int>( Qgis::GpsQualityIndicator::Invalid );
|
||||
mLastGPSInformation.qualityIndicator = Qgis::GpsQualityIndicator::Invalid;
|
||||
}
|
||||
// for other cases: quality and qualityIndicator read by GGA
|
||||
}
|
||||
|
||||
if ( result.navstatus == 'S' )
|
||||
@ -441,11 +449,21 @@ void QgsNmeaConnection::processGsvSentence( const char *data, int len )
|
||||
bool idAlreadyPresent = false;
|
||||
if ( mLastGPSInformation.satellitesInView.size() > NMEA_SATINPACK )
|
||||
{
|
||||
for ( const QgsSatelliteInfo &existingSatInView : std::as_const( mLastGPSInformation.satellitesInView ) )
|
||||
for ( int i = 0; i < mLastGPSInformation.satellitesInView.size(); ++i )
|
||||
{
|
||||
QgsSatelliteInfo &existingSatInView = mLastGPSInformation.satellitesInView[i];
|
||||
if ( existingSatInView.id == currentSatellite.id )
|
||||
{
|
||||
idAlreadyPresent = true;
|
||||
// Signal averaging
|
||||
if ( existingSatInView.signal == 0 )
|
||||
{
|
||||
existingSatInView.signal = currentSatellite.sig;
|
||||
}
|
||||
else if ( currentSatellite.sig != 0 )
|
||||
{
|
||||
existingSatInView.signal = ( existingSatInView.signal + currentSatellite.sig ) / 2;
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user