diff options
| -rw-r--r-- | gnss/1.0-legacy/Gnss.cpp | 14 |
1 files changed, 10 insertions, 4 deletions
diff --git a/gnss/1.0-legacy/Gnss.cpp b/gnss/1.0-legacy/Gnss.cpp index 32c131c..1ab465c 100644 --- a/gnss/1.0-legacy/Gnss.cpp +++ b/gnss/1.0-legacy/Gnss.cpp @@ -198,6 +198,8 @@ void Gnss::gpsSvStatusCb(GpsSvStatus* svInfo) { uint32_t ephemerisMask = svInfo->ephemeris_mask; uint32_t almanacMask = svInfo->almanac_mask; uint32_t usedInFixMask = svInfo->used_in_fix_mask; + // Our HALs report a bigger svinfo struct, HaxxSvStatus, which includes a GLONASS usage mask + uint32_t gloUsedInFixMask = *(&(svInfo->used_in_fix_mask) + 1); // the next int /* * Conversion from GpsSvInfo to IGnssCallback::GnssSvInfo happens below. */ @@ -231,10 +233,11 @@ void Gnss::gpsSvStatusCb(GpsSvStatus* svInfo) { info.svFlag = static_cast<uint8_t>(IGnssCallback::GnssSvFlags::NONE); /* - * Only GPS info is valid for these fields, as these masks are just 32 - * bits, by GPS prn. + * GPS and GLONASS info is valid for these fields, as these masks are just 32 + * bits, by GPS prn and another for GLONASS prn. */ - if (info.constellation == GnssConstellationType::GPS) { + if (info.constellation == GnssConstellationType::GPS || + info.constellation == GnssConstellationType::GLONASS) { int32_t svidMask = (1 << (info.svid - 1)); if ((ephemerisMask & svidMask) != 0) { info.svFlag |= IGnssCallback::GnssSvFlags::HAS_EPHEMERIS_DATA; @@ -242,7 +245,10 @@ void Gnss::gpsSvStatusCb(GpsSvStatus* svInfo) { if ((almanacMask & svidMask) != 0) { info.svFlag |= IGnssCallback::GnssSvFlags::HAS_ALMANAC_DATA; } - if ((usedInFixMask & svidMask) != 0) { + if ((info.constellation == GnssConstellationType::GPS && + (usedInFixMask & svidMask) != 0) || + (info.constellation == GnssConstellationType::GLONASS && + (gloUsedInFixMask & svidMask) != 0)) { info.svFlag |= IGnssCallback::GnssSvFlags::USED_IN_FIX; } } |