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Code Issues Releases Wiki Activity

GPS overhaul

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Changes how GPS works to avoid returning ambiguous coordinates and nan errors
This commit is contained in:
Anavrins 2019-12-27 01:11:36 -05:00
parent cc80e08407
commit 942f0bda92
1 changed files with 65 additions and 11 deletions
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76
sys/modules/opus/gps.lua
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@ -1,17 +1,71 @@
local Util = require('opus.util')
local GPS = { }
GPS.CHANNEL_GPS = 65534
local device = _G.device
local gps = _G.gps
local vector = _G.vector
function GPS.locate(timeout, debug)
local pt = { }
timeout = timeout or 10
pt.x, pt.y, pt.z = gps.locate(timeout, debug)
if pt.x then
return pt
if not device.wireless_modem then
if debug then
print('No wireless modem attached')
end
return nil
end
if debug then
print('Finding position...')
end
local modem = device.wireless_modem
local closeChannel = false
local selfID = os.getComputerID()
if not modem.isOpen(selfID) then
modem.open(selfID)
closeChannel = true
end
modem.transmit(GPS.CHANNEL_GPS, selfID, "PING")
local fixes = {}
local pos = nil
local timer = os.startTimer(timeout or 1)
while true do
local e, side, chan, reply, msg, dist = os.pullEvent()
if e == "modem_message" then
if side == modem.side and chan == selfID and reply == GPS.CHANNEL_GPS and dist then
if type(msg) == "table" and #msg == 3 and tonumber(msg[1]) and tonumber(msg[2]) and tonumber(msg[3]) then
local fix = {
position = vector.new(unpack(msg)),
distance = dist,
}
if debug then
print(fix.distance..' meters from '..fix.position:tostring())
end
if fix.distance == 0 then
pos = fix.position
else
fixes[#fixes+1] = fix
if #fixes > 3 then
pos = GPS.trilaterate(fixes)
if pos then break end
end
end
end
end
elseif e == "timer" and side == timer then
break
end
end
if closeChannel then
modem.close(selfID)
end
if debug then
print("Position is "..pos.x..","..pos.y..","..pos.z)
end
return vector.new(pos.x, pos.y, pos.z)
end
function GPS.isAvailable()
@ -66,26 +120,26 @@ local function trilaterate(A, B, C)
local result1 = result + (ez * z)
local result2 = result - (ez * z)
local rounded1, rounded2 = result1:round(), result2:round()
local rounded1, rounded2 = result1:round(0.01), result2:round(0.01)
if rounded1.x ~= rounded2.x or rounded1.y ~= rounded2.y or rounded1.z ~= rounded2.z then
return rounded1, rounded2
else
return rounded1
end
end
return result:round()
return result:round(0.01)
end
local function narrow( p1, p2, fix )
local dist1 = math.abs( (p1 - fix.position):length() - fix.distance )
local dist2 = math.abs( (p2 - fix.position):length() - fix.distance )
if math.abs(dist1 - dist2) < 0.05 then
if math.abs(dist1 - dist2) < 0.01 then
return p1, p2
elseif dist1 < dist2 then
return p1:round()
return p1:round(0.01)
else
return p2:round()
return p2:round(0.01)
end
end
-- end stock gps api