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Rover states #112

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Merged
merged 1 commit into from
May 12, 2022
Merged

Rover states #112

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83 changes: 83 additions & 0 deletions Firmware/RTK_Surveyor/States.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,89 @@ void updateSystemState()
//Move between states as needed
switch (systemState)
{
/*
.-----------------------------------.
NTRIP Client | STATE_ROVER_NOT_STARTED |
.------------| Text: 'Rover' and 'Rover Started' |
| Enabled '-----------------------------------'
| = False |
| Stop WiFi, | NTRIP Client Enabled = True
| Start | Stop Bluetooth
| Bluetooth | Start WiFi
| V
| .-----------------------------------. 8 Sec
| | STATE_ROVER_CLIENT_WIFI_STARTED | Connection
| | Blinking WiFi Icon | Timeout
| | "HPA: >30m" |--------------.
| | "SIV: 0" | |
| '-----------------------------------' |
| | |
| | radioState = WIFI_CONNECTED |
| | WiFi connected = True |
| V |
| .-----------------------------------. |
| | STATE_ROVER_CLIENT_WIFI_CONNECTED | Connection |
| | Solid WiFi Icon | failed V
| | "HPA: >30m" |------------->+
| | "SIV: 0" | Stop WiFi, |
| '-----------------------------------' Start |
| | Bluetooth |
| | |
| | Client Started |
| V |
| .-----------------------------------. |
| | STATE_ROVER_CLIENT_STARTED | No response, |
| | Blinking WiFi Icon | unauthorized V
| | "HPA: >30m" |------------->+
| | "SIV: 0" | Stop WiFi, |
| '-----------------------------------' Start |
| | Bluetooth |
| | |
| | Client Connected |
| V |
'----------------------------->+<-------------------------------'
|
V
.-----------------------------------.
| STATE_ROVER_NO_FIX |
| SIV Icon Blink |
| "HPA: >30m" |
| "SIV: 0" |
'-----------------------------------'
|
| GPS Lock
| 3D, 3D+DR
V
.-----------------------------------.
| STATE_ROVER_FIX | Carrier
| SIV Icon Solid | Solution = 2
.-------->| "HPA: .513" |---------.
| | "SIV: 30" | |
| '-----------------------------------' |
| | |
| | Carrier Solution = 1 |
| V |
| .-----------------------------------. |
| | STATE_ROVER_RTK_FLOAT | |
| No RTK | Double Crosshair Blinking | |
+<--------| "*HPA: .080" | |
^ | "SIV: 30" | |
| '-----------------------------------' |
| ^ | |
| | | Carrier |
| | | Solution = 2 |
| | V |
| Carrier | +<-------------------'
| Solution = 1 | |
| | V
| .-----------------------------------.
| | STATE_ROVER_RTK_FIX |
| No RTK | Double Crosshair Solid |
'---------| "*HPA: .014" |
| "SIV: 30" |
'-----------------------------------'

*/
case (STATE_ROVER_NOT_STARTED):
{
if (online.gnss == false)
Expand Down