#679 Stream lighthouse angles also when geo data is missing

bitcraze · Feb 11, 2021 · 864ae1c · 864ae1c
1 parent 222bf9c
commit 864ae1c
Showing 1 changed file with 17 additions and 15 deletions.
diff --git a/src/modules/src/lighthouse/lighthouse_core.c b/src/modules/src/lighthouse/lighthouse_core.c
@@ -169,7 +169,7 @@ void ledTimer()
           ledInternalStatus = systemStatus;
         }
         break;
-      case statusMissingData: 
+      case statusMissingData:
         if(ledInternalStatus != systemStatus)
         {
           lighthouseCoreSetLeds(lh_led_off, lh_led_slow_blink, lh_led_off);
@@ -185,7 +185,7 @@ void ledTimer()
         break;
       default:
         ASSERT(false);
-    } 
+    }
   }
 }
 
@@ -303,8 +303,7 @@ static void convertV2AnglesToV1Angles(pulseProcessorResult_t* angles) {
 static void usePulseResult(pulseProcessor_t *appState, pulseProcessorResult_t* angles, int basestation, int sweepId) {
   if (sweepId == sweepIdSecond) {
     const bool hasCalibrationData = pulseProcessorApplyCalibration(appState, angles, basestation);
-    const bool hasGeoData = appState->bsGeometry[basestation].valid;
-    if (hasCalibrationData && hasGeoData) {
+    if (hasCalibrationData) {
       if (lighthouseBsTypeV2 == angles->measurementType) {
         // Emulate V1 base stations for now, convert to V1 angles
         convertV2AnglesToV1Angles(angles);
@@ -313,17 +312,20 @@ static void usePulseResult(pulseProcessor_t *appState, pulseProcessorResult_t* a
       // Send measurement to the ground
       locSrvSendLighthouseAngle(basestation, angles);
 
-      baseStationActiveMapWs = baseStationActiveMapWs | (1 << basestation);
-
-      switch(estimationMethod) {
-        case 0:
-          usePulseResultCrossingBeams(appState, angles, basestation);
-          break;
-        case 1:
-          usePulseResultSweeps(appState, angles, basestation);
-          break;
-        default:
-          break;
+      const bool hasGeoData = appState->bsGeometry[basestation].valid;
+      if (hasGeoData) {
+        baseStationActiveMapWs = baseStationActiveMapWs | (1 << basestation);
+
+        switch(estimationMethod) {
+          case 0:
+            usePulseResultCrossingBeams(appState, angles, basestation);
+            break;
+          case 1:
+            usePulseResultSweeps(appState, angles, basestation);
+            break;
+          default:
+            break;
+        }
       }
     }