Correctly handle L-Band restart if RTK Fix is lost

Author: nseidle

Firmware/RTK_Surveyor/RTK_Surveyor.ino

@@ -678,7 +678,7 @@ bool externalPowerConnected = false; // Goes true when a high voltage is seen on
 //  This is to allow SparkFun_WebServer_ESP32_W5500 to have _exclusive_ access to WiFi, SPI and Interrupts.
 bool configureViaEthernet = false;
 
-unsigned long lbandStartTimer = 0; // Monitors the ZED during L-Band reception if a fix takes too long
+unsigned long lbandTimeFloatStarted = 0; // Monitors the ZED during L-Band reception if a fix takes too long
 int lbandRestarts = 0;
 unsigned long lbandTimeToFix = 0;
 unsigned long lbandLastReport = 0;

Firmware/RTK_Surveyor/States.ino

@@ -152,7 +152,10 @@ void updateSystemState()
             updateAccuracyLEDs();
 
             if (carrSoln == 1) // RTK Float
+            {
+                lbandTimeFloatStarted = millis(); //Restart timer for L-Band. Don't immediately reset ZED to achieve fix.
                 changeState(STATE_ROVER_RTK_FLOAT);
+            }
             else if (carrSoln == 2) // RTK Fix
                 changeState(STATE_ROVER_RTK_FIX);
         }
@@ -174,7 +177,10 @@ void updateSystemState()
             if (carrSoln == 0) // No RTK
                 changeState(STATE_ROVER_FIX);
             if (carrSoln == 1) // RTK Float
+            {
+                lbandTimeFloatStarted = millis(); //Restart timer for L-Band. Don't immediately reset ZED to achieve fix.
                 changeState(STATE_ROVER_RTK_FLOAT);
+            }
         }
         break;
 

Firmware/RTK_Surveyor/menuPP.ino

@@ -1038,8 +1038,6 @@ void beginLBand()
 
     i2cLBand.softwareResetGNSSOnly(); // Do a restart
 
-    lbandStartTimer = millis();
-
     log_d("L-Band online");
 
     online.lband = true;
@@ -1224,16 +1222,17 @@ void updateLBand()
             {
                 lbandLastReport = millis();
                 log_d("ZED restarts: %d Time remaining before L-Band forced restart: %ds", lbandRestarts,
-                      settings.lbandFixTimeout_seconds - ((millis() - lbandStartTimer) / 1000));
+                      settings.lbandFixTimeout_seconds - ((millis() - lbandTimeFloatStarted) / 1000));
             }
 
             if (settings.lbandFixTimeout_seconds > 0)
             {
-                if ((millis() - lbandStartTimer) > (settings.lbandFixTimeout_seconds * 1000L))
+                if ((millis() - lbandTimeFloatStarted) > (settings.lbandFixTimeout_seconds * 1000L))
                 {
-                    lbandStartTimer = millis(); // Reset timer
                     lbandRestarts++;
 
+                    lbandTimeFloatStarted = millis(); //Restart timer for L-Band. Don't immediately reset ZED to achieve fix.
+
                     // Hotstart ZED to try to get RTK lock
                     theGNSS.softwareResetGNSSOnly();