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flylong0204 rcr-software helloxss

geovis's Issues

Implement a mediator-style alerting class

For example, if something goes wrong, we can submit to Alerter (or MessageBlaster etc.) (perhaps even with an enum for priority settings) and it can alert via Serial, write to file, send over the radio, etc.

All for ~one configuration at the beginning of the program.

Investigate and resolve the cause for high-sampling rate issues with GPS module.

Testing has shown that high sampling rates of the GPS receiver cause the cessation of new fixes (and GPS date, and other data from the satellites).
This can be seen by building the project at this commit: 6aa457c

For example:

Opening port
Port open
VMDPV_1|1_VMDPV
Setup complete. . .

sats  hdop     lat          long    fix-age   date      time   (... and friends ...)
9    ,89   ,38.218971  ,-85.753220  ,0    ,07/05/2017,19:04:05,1097 ,153.50 ,261.06 ,0.11  ,W     ,9620     ,92.61  ,E     ,720   ,9         ,0        ,
9    ,89   ,38.218971  ,-85.753220  ,513  ,07/05/2017,19:04:05,1610 ,153.50 ,261.06 ,0.11  ,W     ,9620     ,92.61  ,E     ,783   ,9         ,1        ,
9    ,89   ,38.218971  ,-85.753220  ,1026 ,07/05/2017,19:04:05,2123 ,153.50 ,261.06 ,0.11  ,W     ,9620     ,92.61  ,E     ,846   ,9         ,1        ,
9    ,89   ,38.218971  ,-85.753220  ,1538 ,07/05/2017,19:04:05,2635 ,153.50 ,261.06 ,0.11  ,W     ,9620     ,92.61  ,E     ,909   ,9         ,1        ,
9    ,89   ,38.218971  ,-85.753220  ,2051 ,07/05/2017,19:04:05,3148 ,153.50 ,261.06 ,0.11  ,W     ,9620     ,92.61  ,E     ,972   ,9         ,1        ,
9    ,89   ,38.218971  ,-85.753220  ,2564 ,07/05/2017,19:04:05,3661 ,153.50 ,261.06 ,0.11  ,W     ,9620     ,92.61  ,E     ,1035  ,9         ,2        ,
// Above, the "fix age" grew to 2564 milliseconds. (i.e., no new fixes completely arrived for 2.5 seconds)
// This is absolutely unacceptable. 
9    ,89   ,38.218971  ,-85.753220  ,1    ,07/05/2017,19:04:09,4174 ,153.50 ,261.06 ,0.11  ,W     ,9620     ,92.61  ,E     ,1098  ,10        ,2        ,
9    ,89   ,38.218971  ,-85.753220  ,513  ,07/05/2017,19:04:09,4686 ,153.50 ,261.06 ,0.11  ,W     ,9620     ,92.61  ,E     ,1161  ,10        ,3        ,
9    ,89   ,38.218971  ,-85.753220  ,1026 ,07/05/2017,19:04:09,5199 ,153.50 ,261.06 ,0.11  ,W     ,9620     ,92.61  ,E     ,1224  ,10        ,4        ,
9    ,89   ,38.218971  ,-85.753220  ,1539 ,07/05/2017,19:04:09,5712 ,153.50 ,261.06 ,0.11  ,W     ,9620     ,92.61  ,E     ,1287  ,10        ,4        ,
9    ,89   ,38.218971  ,-85.753220  ,2051 ,07/05/2017,19:04:09,6225 ,153.50 ,261.06 ,0.11  ,W     ,9620     ,92.61  ,E     ,1350  ,10        ,5        ,
9    ,89   ,38.218971  ,-85.753220  ,2564 ,07/05/2017,19:04:09,6737 ,153.50 ,261.06 ,0.11  ,W     ,9620     ,92.61  ,E     ,1413  ,10        ,5        ,
9    ,89   ,38.218971  ,-85.753220  ,3077 ,07/05/2017,19:04:09,7250 ,153.50 ,261.06 ,0.11  ,W     ,9620     ,92.61  ,E     ,1476  ,10        ,6        ,
9    ,89   ,38.218971  ,-85.753220  ,3590 ,07/05/2017,19:04:09,7763 ,153.50 ,261.06 ,0.11  ,W     ,9620     ,92.61  ,E     ,1543  ,10        ,6        ,
9    ,89   ,38.218971  ,-85.753220  ,4102 ,07/05/2017,19:04:09,8275 ,153.50 ,261.06 ,0.11  ,W     ,9620     ,92.61  ,E     ,1606  ,10        ,7        ,
9    ,89   ,38.218971  ,-85.753220  ,4615 ,07/05/2017,19:04:09,8788 ,153.50 ,261.06 ,0.11  ,W     ,9620     ,92.61  ,E     ,1669  ,10        ,8        ,
9    ,89   ,38.218971  ,-85.753220  ,5128 ,07/05/2017,19:04:09,9301 ,153.50 ,261.06 ,0.11  ,W     ,9620     ,92.61  ,E     ,1732  ,10        ,9        ,
9    ,89   ,38.218971  ,-85.753220  ,5640 ,07/05/2017,19:04:09,9814 ,153.50 ,261.06 ,0.11  ,W     ,9620     ,92.61  ,E     ,1795  ,10        ,10       ,
// Again, "fix age" grew to 5640 milliseconds.
// Very unacceptable.
  • Is the library in-use the sole cause?
    • If so, how can we mitigate?
  • Is is because high sampling rates may cause us to fail to completely read NMEA sentences?
    • If so, can we increase data rate at any bottlenecks?
    • Where are the bottlenecks?

Redesign Kalman filtering

Currently, equation constants can only be bulk specified for entire class definitions. This is problematic if we decide to filter data differently for a single sensor (for instance, perhaps gps heading is filtered differently from gps altitude). Most likely, this suggests a promotion of kalman types from struct to class with individually provided equation constants.

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