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Base Assist : Subtract antennaHeight and antennaPhaseCenter from GNSS altitude #816

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Merged
nseidle merged 2 commits into from
Dec 10, 2025
+41 −17
Merged

Base Assist : Subtract antennaHeight and antennaPhaseCenter from GNSS altitude #816

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97d9699
Subtract antennaHeight and antennaPhaseCenter from GNSS altitude
PaulZC Dec 4, 2025
feae322
Add BaseAssist ECEF
PaulZC Dec 6, 2025
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58 changes: 41 additions & 17 deletions Firmware/RTK_Everywhere/States.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -234,24 +234,48 @@ void stateUpdate()
return;

// Copy current position into fixed base position
// For now, use the geodetic position only
settings.fixedBase = true;
settings.fixedBaseCoordinateType = COORD_TYPE_GEODETIC;
settings.fixedLat = gnss->getLatitude();
settings.fixedLong = gnss->getLongitude();

// See issue #809
// gnss->getAltitude() will always return Height above ellipsoid
// even if the underlying library getAltitude does not
settings.fixedAltitude = gnss->getAltitude();

systemPrint("Switching to Fixed Base mode using:");
systemPrint(" Lat: ");
systemPrint(settings.fixedLat, haeNumberOfDecimals);
systemPrint(", Lon: ");
systemPrint(settings.fixedLong, haeNumberOfDecimals);
systemPrint(", Alt: ");
systemPrintln(settings.fixedAltitude, 4);
if (settings.fixedBaseCoordinateType == COORD_TYPE_GEODETIC)
{
settings.fixedLat = gnss->getLatitude();
settings.fixedLong = gnss->getLongitude();

// See issue #809
// gnss->getAltitude() will always return Height above ellipsoid
// even if the underlying library getAltitude does not
settings.fixedAltitude = gnss->getAltitude();

// Subtract the antennaHeight and antennaPhaseCenter
// settings.fixedAltitude is the pole tip altitude, not the GNSS antenna altitude
settings.fixedAltitude -= ((settings.antennaHeight_mm + settings.antennaPhaseCenter_mm) / 1000.0);

systemPrint("Switching to Fixed Base mode using:");
systemPrint(" Lat: ");
systemPrint(settings.fixedLat, haeNumberOfDecimals);
systemPrint(", Lon: ");
systemPrint(settings.fixedLong, haeNumberOfDecimals);
systemPrint(", Alt: ");
systemPrintln(settings.fixedAltitude, 4);
}
else
{
double ecefX = 0;
double ecefY = 0;
double ecefZ = 0;
// Don't subtract antennaHeight_mm + antennaPhaseCenter_mm
geodeticToEcef(gnss->getLatitude(), gnss->getLongitude(), gnss->getAltitude(),
&ecefX, &ecefY, &ecefZ);
settings.fixedEcefX = ecefX;
settings.fixedEcefY = ecefY;
settings.fixedEcefZ = ecefZ;

systemPrint("Switching to Fixed Base mode using ECEF: ");
systemPrint(settings.fixedEcefX, 4);
systemPrint(",");
systemPrint(settings.fixedEcefY, 4);
systemPrint(",");
systemPrintln(settings.fixedEcefZ, 4);
}

// STATE_BASE_NOT_STARTED will record settings for next POR

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