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Gather quectel GPS data (#25300)

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* bump cereal

* Use old name

* back to default
old-commit-hash: 98146f5858241fedfe2b16c26afc20396665f884
This commit is contained in:
HaraldSchafer
2022-07-28 01:35:37 +02:00
committed by GitHub
parent 42b62a2d14
commit 0fcd3d4e51
2 changed files with 7 additions and 8 deletions
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cereal
+1 -1
Submodule cereal updated: 9ae66d0712...5fce93da72
selfdrive/sensord/rawgps/rawgpsd.py
+6 -7
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@@ -81,10 +81,9 @@ def main() -> NoReturn:
LOG_GNSS_OEMDRE_MEASUREMENT_REPORT,
]
pub_types = ['qcomGnss']
if int(os.getenv("PUBLISH_EXTERNAL", "0")) == 1:
unpack_position, _ = dict_unpacker(position_report)
log_types.append(LOG_GNSS_POSITION_REPORT)
pub_types.append("gpsLocationExternal")
unpack_position, _ = dict_unpacker(position_report)
log_types.append(LOG_GNSS_POSITION_REPORT)
pub_types.append("gpsLocation")
# connect to modem
diag = ModemDiag()
@@ -204,8 +203,8 @@ def main() -> NoReturn:
vNED = [report["q_FltVelEnuMps[1]"], report["q_FltVelEnuMps[0]"], -report["q_FltVelEnuMps[2]"]]
vNEDsigma = [report["q_FltVelSigmaMps[1]"], report["q_FltVelSigmaMps[0]"], -report["q_FltVelSigmaMps[2]"]]
msg = messaging.new_message('gpsLocationExternal')
gps = msg.gpsLocationExternal
msg = messaging.new_message('gpsLocation')
gps = msg.gpsLocation
gps.flags = 1
gps.latitude = report["t_DblFinalPosLatLon[0]"] * 180/math.pi
gps.longitude = report["t_DblFinalPosLatLon[1]"] * 180/math.pi
@@ -220,7 +219,7 @@ def main() -> NoReturn:
gps.bearingAccuracyDeg = report["q_FltHeadingUncRad"] * 180/math.pi
gps.speedAccuracy = math.sqrt(sum([x**2 for x in vNEDsigma]))
pm.send('gpsLocationExternal', msg)
pm.send('gpsLocation', msg)
if log_type in [LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT]:
msg = messaging.new_message('qcomGnss')