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trunk roundhouse kick

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This commit is contained in:
Thomas Göttgens
2023-01-21 14:34:29 +01:00
parent 6cf18b7d07
commit 51b2c431d9
234 changed files with 4989 additions and 5101 deletions
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48
src/gps/NMEAWPL.cpp
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@@ -18,15 +18,11 @@
uint32_t printWPL(char *buf, size_t bufsz, const Position &pos, const char *name)
{
GeoCoord geoCoord(pos.latitude_i,pos.longitude_i,pos.altitude);
uint32_t len = snprintf(buf, bufsz, "$GNWPL,%02d%07.4f,%c,%03d%07.4f,%c,%s",
geoCoord.getDMSLatDeg(),
(abs(geoCoord.getLatitude()) - geoCoord.getDMSLatDeg() * 1e+7) * 6e-6,
geoCoord.getDMSLatCP(),
geoCoord.getDMSLonDeg(),
(abs(geoCoord.getLongitude()) - geoCoord.getDMSLonDeg() * 1e+7) * 6e-6,
geoCoord.getDMSLonCP(),
name);
GeoCoord geoCoord(pos.latitude_i, pos.longitude_i, pos.altitude);
uint32_t len = snprintf(buf, bufsz, "$GNWPL,%02d%07.4f,%c,%03d%07.4f,%c,%s", geoCoord.getDMSLatDeg(),
(abs(geoCoord.getLatitude()) - geoCoord.getDMSLatDeg() * 1e+7) * 6e-6, geoCoord.getDMSLatCP(),
geoCoord.getDMSLonDeg(), (abs(geoCoord.getLongitude()) - geoCoord.getDMSLonDeg() * 1e+7) * 6e-6,
geoCoord.getDMSLonCP(), name);
uint32_t chk = 0;
for (uint32_t i = 1; i < len; i++) {
chk ^= buf[i];
@@ -51,35 +47,21 @@ uint32_t printWPL(char *buf, size_t bufsz, const Position &pos, const char *name
* 8 Horizontal Dilution of precision (meters)
* 9 Antenna Altitude above/below mean-sea-level (geoid) (in meters)
* 10 Units of antenna altitude, meters
* 11 Geoidal separation, the difference between the WGS-84 earth ellipsoid and mean-sea-level (geoid), "-" means mean-sea-level below ellipsoid
* 12 Units of geoidal separation, meters
* 13 Age of differential GPS data, time in seconds since last SC104 type 1 or 9 update, null field when DGPS is not used
* 14 Differential reference station ID, 0000-1023
* 15 Checksum
* 11 Geoidal separation, the difference between the WGS-84 earth ellipsoid and mean-sea-level (geoid), "-" means mean-sea-level
* below ellipsoid 12 Units of geoidal separation, meters 13 Age of differential GPS data, time in seconds since last SC104 type 1
* or 9 update, null field when DGPS is not used 14 Differential reference station ID, 0000-1023 15 Checksum
* -------------------------------------------
*/
uint32_t printGGA(char *buf, size_t bufsz, const Position &pos)
{
GeoCoord geoCoord(pos.latitude_i,pos.longitude_i,pos.altitude);
uint32_t len = snprintf(buf, bufsz, "$GNGGA,%06u.%03u,%02d%07.4f,%c,%03d%07.4f,%c,%u,%02u,%04u,%04d,%c,%04d,%c,%d,%04d",
pos.time / 1000,
pos.time % 1000,
geoCoord.getDMSLatDeg(),
(abs(geoCoord.getLatitude()) - geoCoord.getDMSLatDeg() * 1e+7) * 6e-6,
geoCoord.getDMSLatCP(),
geoCoord.getDMSLonDeg(),
(abs(geoCoord.getLongitude()) - geoCoord.getDMSLonDeg() * 1e+7) * 6e-6,
geoCoord.getDMSLonCP(),
pos.fix_type,
pos.sats_in_view,
pos.HDOP,
geoCoord.getAltitude(),
'M',
pos.altitude_geoidal_separation,
'M',
0,
0);
GeoCoord geoCoord(pos.latitude_i, pos.longitude_i, pos.altitude);
uint32_t len =
snprintf(buf, bufsz, "$GNGGA,%06u.%03u,%02d%07.4f,%c,%03d%07.4f,%c,%u,%02u,%04u,%04d,%c,%04d,%c,%d,%04d", pos.time / 1000,
pos.time % 1000, geoCoord.getDMSLatDeg(), (abs(geoCoord.getLatitude()) - geoCoord.getDMSLatDeg() * 1e+7) * 6e-6,
geoCoord.getDMSLatCP(), geoCoord.getDMSLonDeg(),
(abs(geoCoord.getLongitude()) - geoCoord.getDMSLonDeg() * 1e+7) * 6e-6, geoCoord.getDMSLonCP(), pos.fix_type,
pos.sats_in_view, pos.HDOP, geoCoord.getAltitude(), 'M', pos.altitude_geoidal_separation, 'M', 0, 0);
uint32_t chk = 0;
for (uint32_t i = 1; i < len; i++) {