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LeeLeahy2LeeLeahy2
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Add Rover state diagram
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‎Firmware/RTK_Surveyor/States.ino‎

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

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