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extract quality indicator from ubx, serialize

pull/58/head
bert hubert 2019-12-28 13:48:34 +01:00
parent 4db6ac8d31
commit ec0e651802
2 changed files with 18 additions and 6 deletions
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3
navmon.proto
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@ -77,6 +77,9 @@ message NavMonMessage {
required uint32 el =4;
required uint32 azi =5;
required double prRes =6;
optional uint32 qi = 8;
optional bool used = 9;
}
message RFData {

21
ubxtool.cc
View File

@ -814,10 +814,10 @@ int main(int argc, char** argv)
if(version9) {
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling UBX-NAV-SIG"<<endl; } // satellite reception details
enableUBXMessageOnPort(fd, 0x01, 0x43, ubxport, 8); // NAV-SIG
/*
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling UBX-RXM-MEASX"<<endl; } // satellite reception details
enableUBXMessageOnPort(fd, 0x02, 0x14, ubxport, 1); // RXM-MEASX
*/
}
else {
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling UBX-NAV-SAT"<<endl; } // satellite reception details
@ -1294,13 +1294,16 @@ int main(int argc, char** argv)
nmm.mutable_rd()->set_el(el);
nmm.mutable_rd()->set_azi(azi);
nmm.mutable_rd()->set_prres(*((int16_t*)(payload.c_str()+ 14 +12*n)) *0.1);
/*
uint32_t status;
memcpy(&status, &payload[16+12*n], 4);
nmm.mutable_rd()->set_qi(status & 7);
nmm.mutable_rd()->set_used(status & 8);
/*
if (doDEBUG) {
cerr<<humanTimeNow()<<" "<<gnssid<<","<<sv<<":";
if(status & (1<<3))
cerr<<" used";
cerr<<" used " << ((status & 8) == 8);
cerr<< " qualityind "<<(status & 7);
cerr<<" db "<<db<<" el "<< el;
cerr<<" health " << (status & (1<<5));
@ -1319,9 +1322,12 @@ int main(int argc, char** argv)
for(unsigned int n = 0 ; n < payload[5]; ++n) {
int gnssid = payload[8+16*n];
int sv = payload[9+16*n];
int qi = payload[15+16*n];
uint16_t sigflags;
memcpy(&sigflags, &payload[18+16*n], 2);
int sigid = 0;
if(version9) {
if(version9) { // we only use this on version9 right now tho
sigid = payload[10+16*n];
if(gnssid == 2 && sigid ==6) // they separate out I and Q, but the rest of UBX doesn't
sigid = 5; // so map it back
@ -1347,6 +1353,9 @@ int main(int argc, char** argv)
nmm.mutable_rd()->set_sigid(sigid);
nmm.mutable_rd()->set_el(0);
nmm.mutable_rd()->set_azi(0);
nmm.mutable_rd()->set_qi(qi);
nmm.mutable_rd()->set_used(sigflags & 8);
ns.emitNMM( nmm);
}