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fix(gps): adapt Doppler bandwidth from board validation

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This commit is contained in:
onur
2026-07-26 03:15:52 +03:00
parent 23650be635
commit 156cfc8b77
24 changed files with 592 additions and 49 deletions
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soc/software/gps_system/gps_system.c
+23 -3
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@@ -29,6 +29,22 @@
#define IMU_SAMPLES_BEFORE_GPS_SERVICE 1u
#define IMU_SAMPLES_AFTER_GPS_SERVICE 3u
static void update_eskf_doppler_bandwidth(
const navigation_fusion_output_t* output)
{
if((output == NULL) || !output->local_valid)
{
return;
}
double alpha = 0.05;
if(output->motion_state == FUSION_MOTION_MOVING)
{
alpha = (output->linear_acceleration_norm_mps2 >= 2.5) ?
0.40 : 0.20;
}
gps_receiver_set_eskf_doppler_alpha(alpha);
}
static void initialize_sensor_fusion(gps_system_state_t* system)
{
system->fusion_enabled = (GPS_ESKF_ENABLE != 0);
@@ -69,9 +85,13 @@ static unsigned int feed_pending_imu_to_eskf(
imu_sensor_take_measurement(&system->imu_sample))
{
bool accepted = navigation_fusion_push_imu(&system->imu_sample);
if(accepted &&
navigation_fusion_get_output(&system->fused_solution) &&
system->fused_solution.global_valid &&
bool output_available = accepted &&
navigation_fusion_get_output(&system->fused_solution);
if(output_available)
{
update_eskf_doppler_bandwidth(&system->fused_solution);
}
if(output_available && system->fused_solution.global_valid &&
(system->fused_solution.timestamp_ticks !=
system->last_fused_location_tick))
{