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use Position struct for GPS data

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This commit is contained in:
a-f-G-U-C
2021-10-24 12:38:35 +00:00
committed by GitHub
parent 7d267e8027
commit 70b80e600d
4 changed files with 85 additions and 41 deletions
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48
src/gps/NMEAGPS.cpp
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@@ -95,6 +95,17 @@ bool NMEAGPS::lookForLocation()
if (! hasLock())
return false;
#ifdef GPS_EXTRAVERBOSE
DEBUG_MSG("AGE: LOC=%d FIX=%d DATE=%d TIME=%d\n",
reader.location.age(),
#ifndef TINYGPS_OPTION_NO_CUSTOM_FIELDS
gsafixtype.age(),
#else
0,
#endif
reader.date.age(), reader.time.age());
#endif // GPS_EXTRAVERBOSE
// check if a complete GPS solution set is available for reading
// tinyGPSDatum::age() also includes isValid() test
// FIXME
@@ -105,7 +116,7 @@ bool NMEAGPS::lookForLocation()
(reader.time.age() < GPS_SOL_EXPIRY_MS) &&
(reader.date.age() < GPS_SOL_EXPIRY_MS)))
{
// DEBUG_MSG("SOME data is TOO OLD\n");
DEBUG_MSG("SOME data is TOO OLD\n");
return false;
}
@@ -113,7 +124,7 @@ bool NMEAGPS::lookForLocation()
if (! reader.location.isUpdated())
return false;
// Start reading the data
// We know the solution is fresh and valid, so just read the data
auto loc = reader.location.value();
// Some GPSes (Air530) seem to send a zero longitude when the current fix is bogus
@@ -123,27 +134,34 @@ bool NMEAGPS::lookForLocation()
return false;
}
p.location_source = Position_LocSource_LOCSRC_GPS_INTERNAL;
// Dilution of precision (an accuracy metric) is reported in 10^2 units, so we need to scale down when we use it
#ifndef TINYGPS_OPTION_NO_CUSTOM_FIELDS
dop = TinyGPSPlus::parseDecimal(gsapdop.value());
p.HDOP = reader.hdop.value();
p.PDOP = TinyGPSPlus::parseDecimal(gsapdop.value());
DEBUG_MSG("PDOP=%d, HDOP=%d\n", dop, reader.hdop.value());
#else
// FIXME! naive PDOP emulation (assumes VDOP==HDOP)
// correct formula is PDOP = SQRT(HDOP^2 + VDOP^2)
dop = 1.41 * reader.hdop.value();
p.HDOP = reader.hdop.value();
p.PDOP = 1.41 * reader.hdop.value();
#endif
// Discard incomplete or erroneous readings
if (dop == 0)
if (reader.hdop.value() == 0)
return false;
latitude = toDegInt(loc.lat);
longitude = toDegInt(loc.lng);
p.latitude_i = toDegInt(loc.lat);
p.longitude_i = toDegInt(loc.lng);
geoidal_height = reader.geoidHeight.meters();
#ifdef GPS_ALTITUDE_HAE
altitude = reader.altitude.meters() + geoidal_height;
#else
altitude = reader.altitude.meters();
p.alt_geoid_sep = reader.geoidHeight.meters();
p.altitude_hae = reader.altitude.meters() + p.alt_geoid_sep;
p.altitude = reader.altitude.meters();
p.fix_quality = fixQual;
#ifndef TINYGPS_OPTION_NO_CUSTOM_FIELDS
p.fix_type = fixType;
#endif
// positional timestamp
@@ -155,16 +173,16 @@ bool NMEAGPS::lookForLocation()
t.tm_mon = reader.date.month() - 1;
t.tm_year = reader.date.year() - 1900;
t.tm_isdst = false;
pos_timestamp = mktime(&t);
p.pos_timestamp = mktime(&t);
// Nice to have, if available
if (reader.satellites.isUpdated()) {
setNumSatellites(reader.satellites.value());
p.sats_in_view = reader.satellites.value();
}
if (reader.course.isUpdated() && reader.course.isValid()) {
if (reader.course.value() < 36000) { // sanity check
heading = reader.course.value() * 1e3; // Scale the heading (in degrees * 10^-2) to match the expected degrees * 10^-5
p.ground_track = reader.course.value() * 1e3; // Scale the heading (in degrees * 10^-2) to match the expected degrees * 10^-5
} else {
DEBUG_MSG("BOGUS course.value() REJECTED: %d\n",
reader.course.value());