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work with more NMEA gps sentences

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This commit is contained in:
Kevin Hester 2020-10-16 14:00:17 +08:00
parent 79aea8231f
commit 2fb5cd8c1c
1 changed files with 21 additions and 21 deletions
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42
src/gps/NMEAGPS.cpp
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@ -1,6 +1,6 @@
#include "NMEAGPS.h"
#include "configuration.h"
#include "RTC.h"
#include "configuration.h"
static int32_t toDegInt(RawDegrees d)
{
@ -32,7 +32,7 @@ bool NMEAGPS::lookForTime()
{
auto ti = reader.time;
auto d = reader.date;
if (ti.isUpdated() && ti.isValid() && d.isValid()) {
if (ti.isValid() && d.isValid()) { // Note: we don't check for updated, because we'll only be called if needed
/* Convert to unix time
The Unix epoch (or Unix time or POSIX time or Unix timestamp) is the number of seconds that have elapsed since January 1, 1970
(midnight UTC/GMT), not counting leap seconds (in ISO 8601: 1970-01-01T00:00:00Z).
@ -65,27 +65,27 @@ bool NMEAGPS::lookForLocation()
// uint8_t fixtype = reader.fixQuality();
// hasValidLocation = ((fixtype >= 1) && (fixtype <= 5));
if (reader.satellites.isUpdated()) {
setNumSatellites(reader.satellites.value());
}
// Diminution of precision (an accuracy metric) is reported in 10^2 units, so we need to scale down when we use it
if (reader.hdop.isUpdated()) {
dop = reader.hdop.value();
}
if (reader.course.isUpdated()) {
heading = reader.course.value() * 1e3; // Scale the heading (in degrees * 10^-2) to match the expected degrees * 10^-5
}
if (reader.altitude.isUpdated())
altitude = reader.altitude.meters();
if (reader.location.isUpdated()) {
if (reader.altitude.isValid())
altitude = reader.altitude.meters();
if (reader.location.isValid()) {
auto loc = reader.location.value();
latitude = toDegInt(loc.lat);
longitude = toDegInt(loc.lng);
foundLocation = true;
}
// Diminution of precision (an accuracy metric) is reported in 10^2 units, so we need to scale down when we use it
if (reader.hdop.isValid()) {
dop = reader.hdop.value();
}
if (reader.course.isValid()) {
heading = reader.course.value() * 1e3; // Scale the heading (in degrees * 10^-2) to match the expected degrees * 10^-5
}
if (reader.satellites.isValid()) {
setNumSatellites(reader.satellites.value());
}
auto loc = reader.location.value();
latitude = toDegInt(loc.lat);
longitude = toDegInt(loc.lng);
foundLocation = true;
// expect gps pos lat=37.520825, lon=-122.309162, alt=158
DEBUG_MSG("new NMEA GPS pos lat=%f, lon=%f, alt=%d, hdop=%g, heading=%f\n", latitude * 1e-7, longitude * 1e-7, altitude,