Merge remote-tracking branch 'upstream/master'

src/drivers/gps/ubx.cpp

@@ -549,7 +549,7 @@ UBX::handle_message()
 		}
 
 		case NAV_SVINFO: {
-//			printf("GOT NAV_SVINFO MESSAGE\n");
+			// printf("GOT NAV_SVINFO MESSAGE\n");
 
 			if (!_waiting_for_ack) {
 				//this is a more complicated message: the length depends on the number of satellites. This number is extracted from the first part of the message
@@ -570,40 +570,27 @@ UBX::handle_message()
 
 				uint8_t satellites_used = 0;
 				int i;
-
+				// printf("Number of Channels: %d\n", packet_part1->numCh);
 				for (i = 0; i < packet_part1->numCh; i++) { //for each channel
 
 					/* Get satellite information from the buffer */
 					memcpy(_rx_buffer_part2, &(_rx_buffer[length_part1 + i * length_part2]), length_part2);
 					packet_part2 = (gps_bin_nav_svinfo_part2_packet_t *) _rx_buffer_part2;
 
+					/* Write satellite information to global storage */
+					uint8_t sv_used = packet_part2->flags & 0x01;
 
-					/* Write satellite information in the global storage */
+					if ( sv_used ) {
-					_gps_position->satellite_prn[i] = packet_part2->svid;
+						// Count SVs used for NAV. 
-
+						satellites_used++;
-					//if satellite information is healthy store the data
-					uint8_t unhealthy = packet_part2->flags & 1 << 4; //flags is a bitfield
-
-					if (!unhealthy) {
-						if ((packet_part2->flags) & 1) { //flags is a bitfield
-							_gps_position->satellite_used[i] = 1;
-							satellites_used++;
-
-						} else {
-							_gps_position->satellite_used[i] = 0;
-						}
-
-						_gps_position->satellite_snr[i] = packet_part2->cno;
-						_gps_position->satellite_elevation[i] = (uint8_t)(packet_part2->elev);
-						_gps_position->satellite_azimuth[i] = (uint8_t)((float)packet_part2->azim * 255.0f / 360.0f);
-
-					} else {
-						_gps_position->satellite_used[i] = 0;
-						_gps_position->satellite_snr[i] = 0;
-						_gps_position->satellite_elevation[i] = 0;
-						_gps_position->satellite_azimuth[i] = 0;
 					}
-
+		
+					// Record info for all channels, whether or not the SV is used for NAV.
+					_gps_position->satellite_used[i] = sv_used;
+					_gps_position->satellite_snr[i] = packet_part2->cno;
+					_gps_position->satellite_elevation[i] = (uint8_t)(packet_part2->elev);
+					_gps_position->satellite_azimuth[i] = (uint8_t)((float)packet_part2->azim * 255.0f / 360.0f);
+					_gps_position->satellite_prn[i] = packet_part2->svid; 
 				}
 
 				for (i = packet_part1->numCh; i < 20; i++) { //these channels are unused