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2024-06-09 16:50:04 -05:00
parent 33afb79600
commit 2e8654ba7f
1 changed files with 6 additions and 2 deletions
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8
system/qcomgpsd/qcomgpsd.py
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@@ -15,6 +15,7 @@ from struct import unpack_from, calcsize, pack
from cereal import log from cereal import log
import cereal.messaging as messaging import cereal.messaging as messaging
from openpilot.common.gpio import gpio_init, gpio_set from openpilot.common.gpio import gpio_init, gpio_set
from openpilot.common.retry import retry from openpilot.common.retry import retry
from openpilot.system.hardware.tici.pins import GPIO from openpilot.system.hardware.tici.pins import GPIO
@@ -280,8 +281,8 @@ def main() -> NoReturn:
if log_type not in LOG_TYPES: if log_type not in LOG_TYPES:
continue continue
if DEBUG: # if DEBUG:
print("%.4f: got log: %x len %d" % (time.time(), log_type, len(log_payload))) # print("%.4f: got log: %x len %d" % (time.time(), log_type, len(log_payload)))
if log_type == LOG_GNSS_OEMDRE_MEASUREMENT_REPORT: if log_type == LOG_GNSS_OEMDRE_MEASUREMENT_REPORT:
msg = messaging.new_message('qcomGnss', valid=True) msg = messaging.new_message('qcomGnss', valid=True)
@@ -341,6 +342,9 @@ def main() -> NoReturn:
gps.speed = math.sqrt(sum([x**2 for x in vNED])) gps.speed = math.sqrt(sum([x**2 for x in vNED]))
gps.bearingDeg = report["q_FltHeadingRad"] * 180/math.pi gps.bearingDeg = report["q_FltHeadingRad"] * 180/math.pi
if DEBUG:
print("%.4f: lat: %.4f lng: %.4f speed: %.4f" % (time.time(), gps.latitude, gps.longitude, gps.speed))
# TODO needs update if there is another leap second, after june 2024? # TODO needs update if there is another leap second, after june 2024?
dt_timestamp = (datetime.datetime(1980, 1, 6, 0, 0, 0, 0, datetime.timezone.utc) + dt_timestamp = (datetime.datetime(1980, 1, 6, 0, 0, 0, 0, datetime.timezone.utc) +
datetime.timedelta(weeks=report['w_GpsWeekNumber']) + datetime.timedelta(weeks=report['w_GpsWeekNumber']) +