From 3e55351de2934876a87374d0d82704909372f549 Mon Sep 17 00:00:00 2001
From: tk <szdot@live.com>
Date: Mon, 29 Jul 2024 13:25:17 +0800
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---
 src/commser.cpp | 45 +++++++++++++++++----------------------------
 1 file changed, 17 insertions(+), 28 deletions(-)

diff --git a/src/commser.cpp b/src/commser.cpp
index c61b90f..453f389 100644
--- a/src/commser.cpp
+++ b/src/commser.cpp
@@ -577,40 +577,29 @@ void mavlink_receiveCallback(uint8_t c)
       switch (gps_raw_int.fix_type)
       {
       case 0:
-      {
-        topicPubMsg[9] = "No Fix";
-      }
-      break;
+        topicPubMsg[9] = "No Fix"; // 无定位
+        break;
       case 1:
-      {
-        topicPubMsg[9] = "No Fix";
-      }
-      break;
+        topicPubMsg[9] = "Bad Fix"; // 差的定位（无效数据）
+        break;
       case 2:
-      {
-        topicPubMsg[9] = "Fix 2D";
-      }
-      break;
+        topicPubMsg[9] = "2D Fix"; // 2D定位（只有经纬度）
+        break;
       case 3:
-      {
-        topicPubMsg[9] = "Fix 3D";
-      }
-      break;
+        topicPubMsg[9] = "3D Fix"; // 3D定位（经纬度和高度）
+        break;
       case 4:
-      {
-        topicPubMsg[9] = "DGPS"; // 不装rtk 最多到DGPS
-      }
-      break;
+        topicPubMsg[9] = "DGPS"; // 差分GPS（使用地面站进行修正,不使用rkt最多只能到DGPS）
+        break;
       case 5:
-      {
-        topicPubMsg[9] = "Float";
-      }
-      break;
+        topicPubMsg[9] = "Float"; // RTK浮动解（精度较高，但不如固定解）
+        break;
+      case 6:
+        topicPubMsg[9] = "RTK Fixed"; // RTK固定解（高精度定位）
+        break;
       default:
-      {
-        topicPubMsg[9] = "Fixed";
-      }
-      break;
+        topicPubMsg[9] = "Unknown"; // 未知状态
+        break;
       }
     }
     break;