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fix 124 - we now fallback to nema if we can't talk ublox protocol to

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the GPS.  Though we are super power inefficient about it so TODO/FIXME
someday to decrease our power draw.
This commit is contained in:
geeksville
2020-05-04 20:02:43 -07:00
parent c2be6c4068
commit dcd1f7478a
5 changed files with 44 additions and 33 deletions
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69
src/gps/NEMAGPS.cpp
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@@ -12,45 +12,54 @@ static int32_t toDegInt(RawDegrees d)
void NEMAGPS::loop()
{
while (_serial_gps.available() > 0) {
int c = _serial_gps.read();
Serial.write(c);
// Serial.write(c);
reader.encode(c);
}
auto ti = reader.time;
auto d = reader.date;
if (ti.isUpdated() && ti.isValid() && d.isValid()) {
/* 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).
*/
struct tm t;
t.tm_sec = ti.second();
t.tm_min = ti.minute();
t.tm_hour = ti.hour();
t.tm_mday = d.day();
t.tm_mon = d.month() - 1;
t.tm_year = d.year() - 1900;
t.tm_isdst = false;
perhapsSetRTC(t);
}
uint32_t now = millis();
if ((now - lastUpdateMsec) > 20 * 1000) { // Ugly hack for now - limit update checks to once every 20 secs (but still consume
// serial chars at whatever rate)
lastUpdateMsec = now;
if (reader.altitude.isUpdated() || reader.location.isUpdated()) { // probably get updated at the same time
if (reader.altitude.isValid())
altitude = reader.altitude.meters();
auto ti = reader.time;
auto d = reader.date;
if (ti.isUpdated() && ti.isValid() && d.isValid()) {
/* 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).
*/
struct tm t;
t.tm_sec = ti.second();
t.tm_min = ti.minute();
t.tm_hour = ti.hour();
t.tm_mday = d.day();
t.tm_mon = d.month() - 1;
t.tm_year = d.year() - 1900;
t.tm_isdst = false;
perhapsSetRTC(t);
auto loc = reader.location;
if (loc.isValid()) {
latitude = toDegInt(loc.rawLat());
longitude = toDegInt(loc.rawLng());
isConnected = true; // we seem to have a real GPS (but not necessarily a lock)
}
// expect gps pos lat=37.520825, lon=-122.309162, alt=158
DEBUG_MSG("new NEMA GPS pos lat=%f, lon=%f, alt=%d\n", latitude * 1e-7, longitude * 1e-7, altitude);
if (reader.location.isUpdated()) {
if (reader.altitude.isValid())
altitude = reader.altitude.meters();
hasValidLocation = (latitude != 0) || (longitude != 0); // bogus lat lon is reported as 0,0
if (hasValidLocation)
notifyObservers(NULL);
if (reader.location.isValid()) {
auto loc = reader.location.value();
latitude = toDegInt(loc.lat);
longitude = toDegInt(loc.lng);
}
// expect gps pos lat=37.520825, lon=-122.309162, alt=158
DEBUG_MSG("new NEMA GPS pos lat=%f, lon=%f, alt=%d\n", latitude * 1e-7, longitude * 1e-7, altitude);
hasValidLocation = (latitude != 0) || (longitude != 0); // bogus lat lon is reported as 0,0
if (hasValidLocation)
notifyObservers(NULL);
}
}
}