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fix 0,0 lat/lon save to prefs as valid position, sorry people on a boat off the coast of Ghana with a very precise GPS hardware

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liquidraver
2026-04-23 08:23:01 +02:00
parent d03deda313
commit a5e5fcbb74
1 changed files with 27 additions and 0 deletions
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zephcore/adapters/gps/ZephyrGPSManager.cpp
+27
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@@ -219,6 +219,33 @@ static void gnss_data_cb(const struct device *dev, const struct gnss_data *data)
k_mutex_lock(&gps_mutex, K_FOREVER);
if (data->info.fix_status >= GNSS_FIX_STATUS_GNSS_FIX) {
/* Reject "Null Island" (0,0) fixes. Zephyr's NMEA parser splits
* data across callbacks: gnss_nmea0183_parse_gga fills altitude +
* fix_status but NOT lat/lon; gnss_nmea0183_parse_rmc fills
* lat/lon. A merged publish fires when both GGA and RMC share a
* UTC. If the chip emits GGA quality=1 while RMC is still 'V'
* (or reports null-island coords), parse_rmc's early-exit on 'V'
* leaves lat/lon at their previous value (zero at first boot, or
* stale) while altitude advances — the caller sees valid
* fix_status + altitude-only motion + (0,0) coords. Observed on
* AT6558R (RAK WisMesh Tag) during early acquisition; Air530Z
* (ThinkNode M1) doesn't desync GGA/RMC this way. (0,0) is never
* a real fix — skip so we don't poison current_pos, persist
* zeros to flash, or promote consecutive_good_fixes. */
if (data->nav_data.latitude == 0 && data->nav_data.longitude == 0) {
LOG_DBG("GPS: Ignoring (0,0) fix — GGA/RMC desync "
"(fix=%d sats=%d alt_mm=%d)",
data->info.fix_status,
data->info.satellites_cnt,
data->nav_data.altitude);
if (gps_current_state == GPS_STATE_ACQUIRING &&
consecutive_good_fixes > 0) {
consecutive_good_fixes = 0;
}
k_mutex_unlock(&gps_mutex);
return;
}
current_pos.latitude_ndeg = data->nav_data.latitude;
current_pos.longitude_ndeg = data->nav_data.longitude;
current_pos.altitude_mm = data->nav_data.altitude;