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swift-nav / piksi_firmware

Firmware for the Piksi GNSS receiver.
swift-nav.com
GNU General Public License v3.0
111 stars 111 forks source link

Still dropping out of Fixed mode when resolving occasionally #81

Open fnoble opened 10 years ago

fnoble commented 10 years ago

Sometimes even when not gaining a satellite.

imh commented 9 years ago

1) is getting log files containing the problem 2) run through SITL

mookerji commented 9 years ago

I'm keeping a journal of this issue, which I'm going to link here later today. The current plan is:

  1. Find a reproducible test case for using external inputs, since it seems like a control flow problem.
  2. Add a HITL test for inappropriate fixed mode transitions. Collect overnight instances of logs where that happens. Might want to see how many fixed=>float transitions result from this, versus other situations (like loss of tracking).
  3. Do some trace debugging for the dgnss_update methods to eliminate the current hypothesis.
  4. SITL checking of the filter with the existing log.
  5. Add some mocked filter testing to the dgnss_update based on results of 2 and 3.
fnoble commented 9 years ago

I think (5) should probably be in the form of a harness to automatically run a set of log files through SITL and testing of the results. Lets chat about it when you have a free moment.

fnoble commented 8 years ago

Current status: fixed -> float transitions have been reduced a lot but not entirely eliminated, the remainder are mostly due to false locks and satellite signal loss (rather than bugs) but this needs to be properly confirmed

mookerji commented 8 years ago

What fergus said. I think the remaining cases would need to be categorized.