AP_ExternalAHRS: Default to no GPS week data

* If a driver publishes time before it has gotten packets to set the value, default to no data value Signed-off-by: Ryan Friedman <[email protected]>
ArduPilot · Mar 23, 2024 · fa18b2e · fa18b2e
1 parent 85d25b2
commit fa18b2e
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Showing 4 changed files with 44 additions and 46 deletions.
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
@@ -135,8 +135,10 @@ class AP_ExternalAHRS {
         Vector3f field;
     } mag_data_message_t;
 
+    // A value to indicate the time is not yet available.
+    static constexpr uint32_t GPS_WEEK_NOT_AVAILABLE {0xFFFF};
     typedef struct {
-        uint16_t gps_week;                   // GPS week, 0xFFFF if not available
+        uint16_t gps_week = GPS_WEEK_NOT_AVAILABLE;  // GPS week
         uint32_t ms_tow;
         uint8_t  fix_type;
         uint8_t  satellites_in_view;

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain5.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain5.cpp
@@ -166,27 +166,26 @@ void AP_ExternalAHRS_MicroStrain5::post_filter() const
         state.last_location_update_us = AP_HAL::micros();
     }
 
-    AP_ExternalAHRS::gps_data_message_t gps {
-        gps_week: filter_data.week,
-        ms_tow: filter_data.tow_ms,
-        fix_type: (uint8_t) gnss_data[gnss_instance].fix_type,
-        satellites_in_view: gnss_data[gnss_instance].satellites,
-
-        horizontal_pos_accuracy: gnss_data[gnss_instance].horizontal_position_accuracy,
-        vertical_pos_accuracy: gnss_data[gnss_instance].vertical_position_accuracy,
-        horizontal_vel_accuracy: gnss_data[gnss_instance].speed_accuracy,
-
-        hdop: gnss_data[gnss_instance].hdop,
-        vdop: gnss_data[gnss_instance].vdop,
-
-        longitude: filter_data.lon,
-        latitude: filter_data.lat,
-        msl_altitude: gnss_data[gnss_instance].msl_altitude,
-
-        ned_vel_north: filter_data.ned_velocity_north,
-        ned_vel_east: filter_data.ned_velocity_east,
-        ned_vel_down: filter_data.ned_velocity_down,
-    };
+    AP_ExternalAHRS::gps_data_message_t gps;
+    gps.gps_week = filter_data.week;
+    gps.ms_tow = filter_data.tow_ms;
+    gps.fix_type = (uint8_t) gnss_data[gnss_instance].fix_type;
+    gps.satellites_in_view = gnss_data[gnss_instance].satellites;
+
+    gps.horizontal_pos_accuracy = gnss_data[gnss_instance].horizontal_position_accuracy;
+    gps.vertical_pos_accuracy = gnss_data[gnss_instance].vertical_position_accuracy;
+    gps.horizontal_vel_accuracy = gnss_data[gnss_instance].speed_accuracy;
+
+    gps.hdop = gnss_data[gnss_instance].hdop;
+    gps.vdop = gnss_data[gnss_instance].vdop;
+
+    gps.longitude = filter_data.lon;
+    gps.latitude = filter_data.lat;
+    gps.msl_altitude = gnss_data[gnss_instance].msl_altitude;
+
+    gps.ned_vel_north = filter_data.ned_velocity_north;
+    gps.ned_vel_east = filter_data.ned_velocity_east;
+    gps.ned_vel_down = filter_data.ned_velocity_down;
 
     if (gps.fix_type >= 3 && !state.have_origin) {
         WITH_SEMAPHORE(state.sem);

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain7.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain7.cpp
@@ -191,29 +191,26 @@ void AP_ExternalAHRS_MicroStrain7::post_filter() const
     }
 
     for (int instance = 0; instance < NUM_GNSS_INSTANCES; instance++) {
-        // *INDENT-OFF*
-        AP_ExternalAHRS::gps_data_message_t gps {
-            gps_week: filter_data.week,
-            ms_tow: filter_data.tow_ms,
-            fix_type: (uint8_t) gnss_data[instance].fix_type,
-            satellites_in_view: gnss_data[instance].satellites,
-
-            horizontal_pos_accuracy: gnss_data[instance].horizontal_position_accuracy,
-            vertical_pos_accuracy: gnss_data[instance].vertical_position_accuracy,
-            horizontal_vel_accuracy: gnss_data[instance].speed_accuracy,
-
-            hdop: gnss_data[instance].hdop,
-            vdop: gnss_data[instance].vdop,
-
-            longitude: filter_data.lon,
-            latitude: filter_data.lat,
-            msl_altitude: gnss_data[instance].msl_altitude,
-
-            ned_vel_north: filter_data.ned_velocity_north,
-            ned_vel_east: filter_data.ned_velocity_east,
-            ned_vel_down: filter_data.ned_velocity_down,
-        };
-        // *INDENT-ON*
+        AP_ExternalAHRS::gps_data_message_t gps;
+
+        gps.gps_week = filter_data.week;
+        gps.ms_tow = filter_data.tow_ms;
+        gps.fix_type = (uint8_t) gnss_data[instance].fix_type;
+        gps.satellites_in_view = gnss_data[instance].satellites;
+        gps.horizontal_pos_accuracy = gnss_data[instance].horizontal_position_accuracy;
+        gps.vertical_pos_accuracy = gnss_data[instance].vertical_position_accuracy;
+        gps.horizontal_vel_accuracy = gnss_data[instance].speed_accuracy;
+
+        gps.hdop = gnss_data[instance].hdop;
+        gps.vdop = gnss_data[instance].vdop;
+
+        gps.longitude = filter_data.lon;
+        gps.latitude = filter_data.lat;
+        gps.msl_altitude = gnss_data[instance].msl_altitude;
+
+        gps.ned_vel_north = filter_data.ned_velocity_north;
+        gps.ned_vel_east = filter_data.ned_velocity_east;
+        gps.ned_vel_down = filter_data.ned_velocity_down;
 
         if (gps.fix_type >= 3 && !state.have_origin) {
             WITH_SEMAPHORE(state.sem);

diff --git a/libraries/AP_ExternalAHRS/MicroStrain_common.h b/libraries/AP_ExternalAHRS/MicroStrain_common.h
@@ -75,7 +75,7 @@ class AP_MicroStrain
     } filter_status;
 
     struct {
-        uint16_t week;
+        uint16_t week = 0xFFFF;
         uint32_t tow_ms;
         float horizontal_position_accuracy;
         float vertical_position_accuracy;