Move antenna height logic to the receiver

opengisch · Aug 9, 2023 · dcdbe6c · dcdbe6c
1 parent e731b3c
commit dcdbe6c
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Showing 3 changed files with 14 additions and 6 deletions.
diff --git a/src/core/positioning/internalgnssreceiver.cpp b/src/core/positioning/internalgnssreceiver.cpp
@@ -15,6 +15,7 @@
  ***************************************************************************/
 
 #include "internalgnssreceiver.h"
+#include "positioning.h"
 
 #include <QGuiApplication>
 #include <qgsapplication.h>
@@ -132,10 +133,15 @@ void InternalGnssReceiver::handlePositionUpdated( const QGeoPositionInfo &positi
     longitude = positionInfo.coordinate().longitude();
     updatePositionInformation = true;
   }
+
+  double antennaHeight = 0.0;
+  if ( Positioning *positioning = qobject_cast<Positioning *>( parent() ) )
+    antennaHeight = positioning->antennaHeight();
+
   double elevation = mLastGnssPositionInformation.elevation();
   if ( !qgsDoubleNear( positionInfo.coordinate().altitude(), elevation ) )
   {
-    elevation = positionInfo.coordinate().altitude();
+    elevation = positionInfo.coordinate().altitude() - antennaHeight;
     updatePositionInformation = true;
   }
 

diff --git a/src/core/positioning/nmeagnssreceiver.cpp b/src/core/positioning/nmeagnssreceiver.cpp
@@ -45,9 +45,11 @@ void NmeaGnssReceiver::stateChanged( const QgsGpsInformation &info )
   mLastGnssPositionValid = !std::isnan( info.latitude );
 
   bool ellipsoidalElevation = false;
+  double antennaHeight = 0.0;
   if ( Positioning *positioning = qobject_cast<Positioning *>( parent() ) )
   {
     ellipsoidalElevation = positioning->ellipsoidalElevation();
+    antennaHeight = positioning->antennaHeight();
   }
 
   if ( info.utcTime != mLastGnssPositionUtcTime )
@@ -73,9 +75,13 @@ void NmeaGnssReceiver::stateChanged( const QgsGpsInformation &info )
     emit lastGnssPositionInformationChanged( mLastGnssPositionInformation );
   }
 
+  double elevation = info.elevation - antennaHeight;
+  if ( ellipsoidalElevation )
+    elevation += info.elevation_diff;
+
   // QgsGpsInformation's speed is served in km/h, translate to m/s
   mCurrentNmeaGnssPositionInformation = GnssPositionInformation( info.latitude, info.longitude,
-                                                                 ellipsoidalElevation ? info.elevation + info.elevation_diff : info.elevation,
+                                                                 elevation,
                                                                  info.speed * 1000 / 60 / 60, info.direction, info.satellitesInView, info.pdop, info.hdop, info.vdop,
                                                                  info.hacc, info.vacc, info.utcDateTime, info.fixMode, info.fixType, info.quality, info.satellitesUsed, info.status,
                                                                  info.satPrn, info.satInfoComplete, std::numeric_limits<double>::quiet_NaN(), std::numeric_limits<double>::quiet_NaN(),

diff --git a/src/core/positioning/positioning.cpp b/src/core/positioning/positioning.cpp
@@ -250,10 +250,6 @@ void Positioning::lastGnssPositionInformationChanged( const GnssPositionInformat
     mSourcePosition.clear();
   }
 
-  // With IMU active the antenna height is corrected by the device
-  if ( mAntennaHeight && !mPositionInformation.imuCorrection() )
-    mSourcePosition.setZ( mSourcePosition.z() - mAntennaHeight );
-
   if ( mCoordinateTransformer )
   {
     mCoordinateTransformer->setSourcePosition( mSourcePosition );