only generate derived GPS data when we have a valid fix

iNavFlight · Dec 28, 2020 · 78c5c94 · 78c5c94
1 parent bac08a5
commit 78c5c94
Show file tree

Hide file tree

Showing 3 changed files with 12 additions and 4 deletions.
diff --git a/src/blackbox_decode.c b/src/blackbox_decode.c
@@ -574,6 +574,10 @@ void flightModeName(FILE *file) {
 /**
  * Print the GPS fields from the given GPS frame as comma-separated values (the GPS frame time is not printed).
  */
+
+static double range, bearing;
+static int32_t relbearing;
+
 void outputGPSFields(flightLog_t *log, FILE *file, int64_t *frame)
 {
     int i;
@@ -629,14 +633,15 @@ void outputGPSFields(flightLog_t *log, FILE *file, int64_t *frame)
 
 	// Adding information overlay fields
     if (options.mergeGPS) {
-        double range = 0, bearing = 0;
-        int32_t relbearing = 0;
-
         if (log->sysConfig.gpsHomeLatitude != 0 && log->sysConfig.gpsHomeLongitude != 0) {
             double gpsHomeLat = log->sysConfig.gpsHomeLatitude / 10000000.0;
             double gpsHomeLon = log->sysConfig.gpsHomeLongitude / 10000000.0;
+            uint8_t fix_type = 0;
+
+            if (log->gpsFieldIndexes.GPS_fixType != -1)
+                fix_type = frame[log->gpsFieldIndexes.GPS_fixType];
 
-            if(currentLat != 0 && currentLon != 0) {
+            if(currentLat != 0 && currentLon != 0 && fix_type == 2) {
                     // vehichle relative makes rel bearing easier ...
                 bearing_distance(currentLat, currentLon, gpsHomeLat, gpsHomeLon, &range, &bearing);
                 relbearing = lrint(bearing) - currentCourse;

diff --git a/src/parser.c b/src/parser.c
@@ -273,6 +273,8 @@ static void identifyGPSFields(flightLog_t *log, flightLogFrameDef_t *frameDef)
 
         if (strcmp(fieldName, "time") == 0) {
             log->gpsFieldIndexes.time = i;
+        } else if (strcmp(fieldName, "GPS_fixType") == 0) {
+            log->gpsFieldIndexes.GPS_fixType = i;
         } else if (strcmp(fieldName, "GPS_numSat") == 0) {
             log->gpsFieldIndexes.GPS_numSat = i;
         } else if (strcmp(fieldName, "GPS_altitude") == 0)  {

diff --git a/src/parser.h b/src/parser.h
@@ -76,6 +76,7 @@ struct flightLogPrivate_t;
  */
 typedef struct gpsGFieldIndexes_t {
     int time;
+    int GPS_fixType;
     int GPS_numSat;
     int GPS_coord[2];
     int GPS_altitude;