From 3a4b25e2600d0bff8a12c03240915e1263eacb7c Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Wed, 2 Oct 2024 15:17:14 +0200
Subject: [PATCH] [ARP] removed rocket fix dependency on update NAS origin
---
src/boards/Groundstation/Automated/SMA/SMA.cpp | 13 +++++--------
1 file changed, 5 insertions(+), 8 deletions(-)
diff --git a/src/boards/Groundstation/Automated/SMA/SMA.cpp b/src/boards/Groundstation/Automated/SMA/SMA.cpp
index fb91a29f9..d04b7f9c6 100644
--- a/src/boards/Groundstation/Automated/SMA/SMA.cpp
+++ b/src/boards/Groundstation/Automated/SMA/SMA.cpp
@@ -141,11 +141,8 @@ void SMA::update()
Hub* hub = static_cast<Hub*>(getModule<Groundstation::HubBase>());
rocketCoordinates = hub->getRocketOrigin();
- if (rocketCoordinates.fix != 0)
- {
- // update follower with the rocket GPS data
- follower.setRocketNASOrigin(rocketCoordinates);
- }
+ // update follower with the rocket GPS data
+ follower.setRocketNASOrigin(rocketCoordinates);
switch (status.state)
{
@@ -169,7 +166,7 @@ void SMA::update()
auto* sensors = getModule<Sensors>();
vn300Data = sensors->getVN300LastSample();
- if (vn300Data.fix_gps != 0)
+ if (vn300Data.fix_gps == 3)
{
// build the GPSData struct with the VN300 data
antennaPosition.gpsTimestamp = vn300Data.insTimestamp;
@@ -180,7 +177,7 @@ void SMA::update()
antennaPosition.velocityEast = vn300Data.nedVelY;
antennaPosition.velocityDown = vn300Data.nedVelZ;
antennaPosition.satellites = vn300Data.fix_gps;
- antennaPosition.fix = (vn300Data.fix_gps > 0);
+ antennaPosition.fix = vn300Data.fix_gps;
// update follower with coordinates
follower.setAntennaCoordinates(antennaPosition);
@@ -198,7 +195,7 @@ void SMA::update()
case SMAState::FIX_ROCKET:
case SMAState::FIX_ROCKET_NF:
{
- if (rocketCoordinates.fix != 0)
+ if (rocketCoordinates.fix == 3)
{
LOG_INFO(Logging::getLogger("automated_antennas"),
"Rocket NAS position with fix acquired [{}, {}] [deg]",
--
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