merged with master

src/gps/GPS.h

@@ -1,6 +1,8 @@
 #pragma once
 
 #include "Observer.h"
+#include "GPSStatus.h"
+#include "../concurrency/PeriodicTask.h"
 #include "sys/time.h"
 
 /// If we haven't yet set our RTC this boot, set it from a GPS derived time
@@ -34,11 +36,15 @@ class GPS : public Observable<void *>
     int32_t latitude = 0, longitude = 0; // as an int mult by 1e-7 to get value as double
     int32_t altitude = 0;
     uint32_t dop = 0; // Diminution of position; PDOP where possible (UBlox), HDOP otherwise (TinyGPS) in 10^2 units (needs scaling before use)
+    uint32_t heading = 0; // Heading of motion, in degrees * 10^-5
+    uint32_t numSatellites = 0;
 
     bool isConnected = false; // Do we have a GPS we are talking to
 
     virtual ~GPS() {}
 
+    Observable<const meshtastic::GPSStatus *> newStatus;
+
     /**
      * Returns true if we succeeded
      */

src/gps/NEMAGPS.cpp

@@ -55,16 +55,26 @@ void NEMAGPS::loop()
                 longitude = toDegInt(loc.lng);
             }
             // 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()) {
+            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()) {
+                numSatellites = reader.satellites.value();
+            }
 
             // expect gps pos lat=37.520825, lon=-122.309162, alt=158
-            DEBUG_MSG("new NEMA GPS pos lat=%f, lon=%f, alt=%d, hdop=%f\n", latitude * 1e-7, longitude * 1e-7, altitude, dop * 1e-2);
+            DEBUG_MSG("new NEMA GPS pos lat=%f, lon=%f, alt=%d, hdop=%f, heading=%f\n", latitude * 1e-7, longitude * 1e-7, altitude, dop * 1e-2, heading * 1e-5);
 
             hasValidLocation = (latitude != 0) || (longitude != 0); // bogus lat lon is reported as 0,0
             if (hasValidLocation)
                 notifyObservers(NULL);
         }
+
+        // Notify any status instances that are observing us
+        const meshtastic::GPSStatus status = meshtastic::GPSStatus(hasLock(), isConnected, latitude, longitude, altitude, dop, heading, numSatellites);
+        newStatus.notifyObservers(&status);
     }
 }

src/gps/UBloxGPS.cpp

@@ -116,7 +116,8 @@ The Unix epoch (or Unix time or POSIX time or Unix timestamp) is the number of s
         longitude = ublox.getLongitude(0);
         altitude = ublox.getAltitude(0) / 1000; // in mm convert to meters
         dop = ublox.getPDOP(0); // PDOP (an accuracy metric) is reported in 10^2 units so we have to scale down when we use it
-        DEBUG_MSG("new gps pos lat=%f, lon=%f, alt=%d, pdop=%f\n", latitude * 1e-7, longitude * 1e-7, altitude, dop * 1e-2);
+        heading = ublox.getHeading(0);
+        numSatellites = ublox.getSIV(0);
 
         // bogus lat lon is reported as 0 or 0 (can be bogus just for one)
         // Also: apparently when the GPS is initially reporting lock it can output a bogus latitude > 90 deg!
@@ -129,6 +130,10 @@ The Unix epoch (or Unix time or POSIX time or Unix timestamp) is the number of s
     } else // we didn't get a location update, go back to sleep and hope the characters show up
         wantNewLocation = true;
 
+    // Notify any status instances that are observing us
+    const meshtastic::GPSStatus status = meshtastic::GPSStatus(hasLock(), isConnected, latitude, longitude, altitude, dop, heading, numSatellites);
+    newStatus.notifyObservers(&status);
+
     // Once we have sent a location once we only poll the GPS rarely, otherwise check back every 1s until we have something over
     // the serial
     setPeriod(hasValidLocation && !wantNewLocation ? 30 * 1000 : 10 * 1000);