[Torch] Base Survey-In fails to start when restarting in temporary Base mode #952
Description
I found this issue with the current release_candidate. To replicate:
Upload release_candidate onto Torch
Factory Reset (s r y)
Go into Base mode (s B x x)
Wait for the survey-in to start (when the horizontal accuracy falls below 2m)
Wait for the survey-in to complete and the Torch to start 'xmitting'
Reset (s d r)
The firmware restarts and restarts the survey-in
The firmware waits for the horizontal accuracy to: be less than 2m; BUT also greater than zero
The UM980 BESTNAV message reports zero (0.0) latitude and longitude deviation
So the survey-in never starts...
The console prints the following - forever:
Base Mode - SIV: 40
Waiting for Horz Accuracy < 2.00 (m): 0.00, SIV: 40
Waiting for Horz Accuracy < 2.00 (m): 0.00, SIV: 40
Waiting for Horz Accuracy < 2.00 (m): 0.00, SIV: 40
Waiting for Horz Accuracy < 2.00 (m): 0.00, SIV: 40
I enhanced the Saleae HLA so it can now analyze Unicore Binary, just to confirm that the reported deviation really is zero. It really is:
I can't believe we haven't seen this issue before now. So what has changed (recently)? Is the new GNSS configuration code configuring Base slightly differently?
After a Reset, do we need to start briefly in Rover mode, then switch to Base survey-in?