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Ubloxd: glonass ephem parsing (#27248)

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temp fix

Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com>
old-commit-hash: 5a0cbc35a544f448e8db1e1578de7607b39a3e76
This commit is contained in:
Kurt Nistelberger
2023-02-07 18:49:51 -07:00
committed by GitHub
parent 466f83cba5
commit 6320c05541
1 changed files with 7 additions and 3 deletions
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10
selfdrive/locationd/ublox_msg.cc
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@@ -359,9 +359,6 @@ kj::Array<capnp::word> UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_
eph.setAge(data->e_n());
eph.setP4(data->p4());
eph.setSvURA(glonass_URA_lookup.at(data->f_t()));
if (msg->sv_id() != data->n()) {
LOGE("SV_ID != SLOT_NUMBER: %d %d", msg->sv_id(), data->n())
}
eph.setSvType(data->m());
}
@@ -375,6 +372,13 @@ kj::Array<capnp::word> UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_
// the year can be fetched later in laika (note rollovers and leap year)
uint8_t n_4 = data->n_4();
uint16_t year = get_glonass_year(n_4, current_day);
if (current_day > 1461) {
// impossible day within last 4 year, reject ephemeris
// TODO: check if this can be detected via hamming code
LOGE("INVALID DATA: current day out of range: %d, %d", current_day, n_4);
glonass_strings[msg->sv_id()].clear();
return kj::Array<capnp::word>();
}
uint16_t last_leap_year = 1996 + 4*(n_4-1);
uint16_t days_till_this_year = (year - last_leap_year)*365;