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feat(gps): expose Doppler and signal quality measurements

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onur
2026-07-25 11:30:38 +03:00
parent 64860d1ced
commit b2ca7db633
26 changed files with 2042 additions and 59 deletions
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soc/software/gps_system/src/adapters/gps_fusion_publisher.c
+7
View File
@@ -24,7 +24,14 @@ bool gps_fusion_build_measurement(
measurement_out->vacc_m = solution->vacc_m;
measurement_out->residual_rms_m = solution->residual_rms_m;
measurement_out->chi_square_ratio = solution->chi_square_ratio;
memcpy(measurement_out->velocity_ecef_mps,
solution->velocity_ecef_mps,
sizeof(measurement_out->velocity_ecef_mps));
measurement_out->speed_mps = solution->speed_mps;
measurement_out->velocity_residual_rms_mps =
solution->velocity_residual_rms_mps;
measurement_out->used_satellites = solution->used_satellite_count;
measurement_out->solution_valid = solution->solution_valid;
measurement_out->velocity_valid = solution->velocity_valid;
return true;
}
soc/software/gps_system/src/adapters/gps_system_uart.c
+5 -2
View File
@@ -27,10 +27,13 @@ void gps_system_uart_publish_location(
GPS_LOG(DEBUG_STATUS, GPS_LOG_CAT_LOCATION,
"source=%s lat=%.20lf lon=%.20lf height=%.3lf "
"gdop=%.10lf pdop=%.10lf hdop=%.10lf vdop=%.10lf tdop=%.10lf "
"tracked=%u used=%u\r\n",
"tracked=%u used=%u velocity_valid=%u speed=%.3lf "
"velocity_rms=%.3lf\r\n",
source, latitude_deg, longitude_deg, height_m,
gps->gdop, gps->pdop, gps->hdop, gps->vdop, gps->tdop,
gps->tracked_satellite_count, gps->used_satellite_count);
gps->tracked_satellite_count, gps->used_satellite_count,
gps->velocity_valid ? 1u : 0u,
gps->speed_mps, gps->velocity_residual_rms_mps);
}
void gps_system_uart_publish_fused_location(