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Fixed IMU detection for Happy Mönch II (#4470)
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@domi4484 @nirvn
domi4484 authored and nirvn committed Aug 19, 2023
1 parent cd8dd5d commit a95841b
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Showing 4 changed files with 216 additions and 1 deletion.
4 changes: 3 additions & 1 deletion src/core/positioning/nmeagnssreceiver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -118,7 +118,9 @@ void NmeaGnssReceiver::processImuSentence( const QString &sentence )
static const int IMU_KQGEO_STATUS_OK = 1026;
static const int IMU_KQGEO_STATUS_OK_NEW = 1967106;

QStringList parameters = sentence.split( ',' );
// Remove checksum
const QString sentenceWithoutChecksum = sentence.split( '*' ).first();
QStringList parameters = sentenceWithoutChecksum.split( ',' );
if ( parameters.size() <= PARAMETER_STATUS_INDEX )
return;

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197 changes: 197 additions & 0 deletions test/nmea_server/happyMonch2WithIMU.txt
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Original file line number Diff line number Diff line change
@@ -0,0 +1,197 @@
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$SYDL,83*25
$INS.NAVI,153421.40,46.5278837042,8.6071240960,1194.4383,-0.006,-0.001,-0.005,0.0171,0.0772,-1.8928,0.0038,-0.02411190,0.00375904,0.12673262,-0.01343063,0.00257088,0.00497610,31.76328468,1967106*42
$GNGGA,153422.00,4631.67305503,N,00836.42752807,E,4,20,0.9,1145.6559,M,50.3453,M,01,0*71
$PTAX,TIME,2023-07-24_23:34:22*53
$GNGSA,M,3,04,06,07,19,03,09,,,,,,,1.5,0.9,1.2,1*34
$GNGSA,M,3,73,72,71,86,,,,,,,,,1.5,0.9,1.2,2*39
$GNGSA,M,3,26,13,07,,,,,,,,,,1.5,0.9,1.2,3*30
$GNGSA,M,3,33,05,42,41,24,28,14,,,,,,1.5,0.9,1.2,4*39
$GNRMC,153422.00,A,4631.67305503,N,00836.42752807,E,0.010,45.8,240723,1.0,E,R,V*7D
$GNGST,153422.00,3.32,0.02,0.01,177.2987,0.008,0.004,0.016*45
$INS.NAVI,153421.80,46.5278836818,8.6071240740,1194.4429,-0.006,0.002,-0.003,0.0170,0.0772,-1.8928,0.0036,-0.02412821,0.00375711,0.12674586,-0.01343011,0.00257078,0.00497623,31.76328468,1967106*6E
#REFSTATIONA,COM1,0,79.0,FINE,2272,142479.000,6885258,807,18;00000000,4347128.449,657860.915,4606868.969,0,RTCMV3,"0000"*b6a0879f
$GPGSV,2,1,06,04,62,054,37,06,61,275,47,07,26,174,42,09,82,262,53,1*62
$GPGSV,2,2,06,19,15,237,37,03,33,101,41,1*6A
$GPGSV,2,1,06,04,62,054,33,06,61,275,42,07,26,174,37,09,82,262,48,4*6E
$GPGSV,2,2,06,19,15,237,29,03,33,101,38,4*6E
$GPGSV,1,1,04,04,62,054,39,06,61,275,45,09,82,262,52,03,33,101,40,8*67
$GLGSV,1,1,04,86,53,240,51,73,15,130,41,72,23,269,42,71,63,314,33,1*7B
$GLGSV,1,1,04,86,53,240,49,73,15,130,27,72,23,269,43,71,63,314,24,3*77
$GBGSV,2,1,07,33,74,319,42,05,18,120,31,42,40,075,35,41,26,274,44,1*77
$GBGSV,2,2,07,14,65,058,40,24,26,125,31,28,38,250,49,1*43
$GBGSV,2,1,05,33,74,319,39,42,40,075,34,41,26,274,42,24,26,125,39,3*7F
$GBGSV,2,2,05,28,38,250,46,3*45
$GBGSV,2,1,05,33,74,319,37,42,40,075,32,41,26,274,39,24,26,125,37,5*73
$GBGSV,2,2,05,28,38,250,41,5*44
$GBGSV,2,1,08,33,74,319,37,05,18,120,32,42,40,075,32,26,28,070,29,8*75
$GBGSV,2,2,08,41,26,274,41,14,65,058,42,24,26,125,39,28,38,250,37,8*73
$GBGSV,1,1,02,05,18,120,36,14,65,058,42,B*00
$GAGSV,1,1,03,26,65,247,47,07,82,265,50,13,31,170,40,1*48
$GAGSV,1,1,03,26,65,247,48,07,82,265,48,13,31,170,41,2*4C
$GAGSV,1,1,03,26,65,247,48,07,82,265,51,13,31,170,42,7*42
$GPSNR,6,1,21,4,38,33,39,6,47,43,46,7,42,38,0,9,51,49,51*4B
$GPSNR,6,2,21,19,37,30,0,3,41,38,41,86,51,49,0,73,41,27,0*77
$GPSNR,6,3,21,72,42,43,0,71,33,24,0,193,42,0,37,165,31,37,33*4B
$GPSNR,6,4,21,202,35,0,33,186,0,0,30,201,44,0,41,174,40,43,42*7E
$GPSNR,6,5,21,184,31,0,40,188,49,0,37,287,48,48,48,268,51,49,50*76
$GPSNR,6,6,21,274,42,41,41*40
$GPSAV,4,1,21,4,,,6,,,7,,,9,,,19,,,3,,*4E
$GPSAV,4,2,21,86,,,73,,,72,,,71,,,193,,,165,,*7A
$GPSAV,4,3,21,202,,,186,,,201,,,174,,,184,,,188,,*79
$GPSAV,4,4,21,287,,,268,,,274,,*60
$INS.NAVI,153422.20,46.5278836731,8.6071240697,1194.4475,-0.007,-0.002,-0.002,0.0170,0.0771,-1.8927,0.0037,-0.02415213,0.00375047,0.12675795,-0.01342932,0.00257069,0.00497700,31.76328468,1967106*41
$INS.NAVI,153422.60,46.5278837376,8.6071240876,1194.4444,-0.006,0.001,-0.001,0.0170,0.0772,-1.8927,0.0045,-0.02417299,0.00371889,0.12676997,-0.01342869,0.00257163,0.00497747,31.76328468,1967106*6C
$GNGGA,153423.00,4631.67305749,N,00836.42752793,E,4,20,0.9,1145.6610,M,50.3453,M,01,0*70
$GNGSA,M,3,04,06,07,19,03,09,,,,,,,1.5,0.9,1.2,1*34
$GNGSA,M,3,73,72,71,86,,,,,,,,,1.5,0.9,1.2,2*39
$GNGSA,M,3,26,13,07,,,,,,,,,,1.5,0.9,1.2,3*30
$GNGSA,M,3,33,05,42,41,24,28,14,,,,,,1.5,0.9,1.2,4*39
$GNRMC,153423.00,A,4631.67305749,N,00836.42752793,E,0.011,4.5,240723,1.0,E,R,V*4B
$INS.NAVI,153423.00,46.5278837216,8.6071240884,1194.4483,-0.006,-0.002,-0.001,0.0171,0.0771,-1.8927,0.0049,-0.02420276,0.00370178,0.12676027,-0.01342763,0.00257189,0.00497762,31.76328468,1967106*4D
$INS.NAVI,153423.40,46.5278837473,8.6071240646,1194.4408,-0.006,-0.002,-0.001,0.0170,0.0771,-1.8927,0.0052,-0.02421954,0.00369039,0.12675762,-0.01342711,0.00257213,0.00497746,31.76328468,1967106*44
$GNGGA,153424.00,4631.67305702,N,00836.42752545,E,4,20,0.9,1145.6564,M,50.3453,M,01,0*71
$PTAX,TIME,2023-07-24_23:34:24*55
$GNGSA,M,3,04,06,07,19,03,09,,,,,,,1.5,0.9,1.2,1*34
$GNGSA,M,3,73,72,71,86,,,,,,,,,1.5,0.9,1.2,2*39
$GNGSA,M,3,26,13,07,,,,,,,,,,1.5,0.9,1.2,3*30
$GNGSA,M,3,33,05,42,41,24,28,14,,,,,,1.5,0.9,1.2,4*39
$GNRMC,153424.00,A,4631.67305702,N,00836.42752545,E,0.011,16.3,240723,1.0,E,R,V*7F
$GNGST,153424.00,3.33,0.02,0.01,177.4489,0.008,0.004,0.016*47
$INS.NAVI,153423.80,46.5278837240,8.6071240597,1194.4396,-0.007,-0.002,0.001,0.0171,0.0770,-1.8926,0.0056,-0.02424461,0.00368445,0.12678455,-0.01342636,0.00257210,0.00497743,31.76328468,1967106*60
13 changes: 13 additions & 0 deletions test/qml/tst_positioning.qml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -86,4 +86,17 @@ TestCase {
compare(positioning.positionInformation.qualityDescription, "Float RTK + IMU")
compare(positioning.positionInformation.imuCorrection, true)
}

function test_06_happyMonch2IMU() {
positioning.deviceId = 'udp:localhost:1960'

coordinateTransformer.deltaZ = 0
coordinateTransformer.verticalGrid = ''

// wait a few seconds so positioning can catch some NMEA strings
wait(2500)

compare(positioning.positionInformation.qualityDescription, "Fixed RTK + IMU")
compare(positioning.positionInformation.imuCorrection, true)
}
}
3 changes: 3 additions & 0 deletions test/test_qml.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -109,6 +109,7 @@ class Setup : public QObject
NmeaServer mNmeaServerTrimbleR1 = NmeaServer( "TrimbleR1.txt", NmeaServer::Udp, 1958 );
NmeaServer mNmeaServerHappy = NmeaServer( "happy.txt", NmeaServer::Tcp, 11111 );
NmeaServer mNmeaServerHappyWithIMU = NmeaServer( "happyWithIMU.txt", NmeaServer::Udp, 1959 );
NmeaServer mNmeaServerHappyMonch2WithIMU = NmeaServer( "happyMonch2WithIMU.txt", NmeaServer::Udp, 1960 );

QString mDataDir;

Expand Down Expand Up @@ -140,13 +141,15 @@ class Setup : public QObject
mNmeaServerTrimbleR1.start( nmeaServerLocation );
mNmeaServerHappy.start( nmeaServerLocation );
mNmeaServerHappyWithIMU.start( nmeaServerLocation );
mNmeaServerHappyMonch2WithIMU.start( nmeaServerLocation );
}

void cleanupTestCase()
{
mNmeaServerTrimbleR1.kill();
mNmeaServerHappy.kill();
mNmeaServerHappyWithIMU.kill();
mNmeaServerHappyMonch2WithIMU.kill();
}

void qmlEngineAvailable( QQmlEngine *engine )
Expand Down

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