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Merge branch 'master' into apollo

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This commit is contained in:
Thomas Göttgens
2024-05-17 11:49:28 +02:00
committed by GitHub
parent 011cff2fe1 a2284e3d52
commit ed9bdf0e05
218 changed files with 3351 additions and 988 deletions
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15
src/gps/GPS.cpp
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@@ -62,10 +62,10 @@ void GPS::CASChecksum(uint8_t *message, size_t length)
// Iterate over the payload as a series of uint32_t's and
// accumulate the cksum
uint32_t *payload = (uint32_t *)(message + 6);
uint32_t const *payload = (uint32_t *)(message + 6);
for (size_t i = 0; i < (length - 10) / 4; i++) {
uint32_t p = payload[i];
cksum += p;
uint32_t pl = payload[i];
cksum += pl;
}
// Place the checksum values in the message
@@ -452,7 +452,7 @@ bool GPS::setup()
// Set the NEMA output messages
// Ask for only RMC and GGA
uint8_t fields[] = {CAS_NEMA_RMC, CAS_NEMA_GGA};
for (uint i = 0; i < sizeof(fields); i++) {
for (unsigned int i = 0; i < sizeof(fields); i++) {
// Construct a CAS-CFG-MSG packet
uint8_t cas_cfg_msg_packet[] = {0x4e, fields[i], 0x01, 0x00};
msglen = makeCASPacket(0x06, 0x01, sizeof(cas_cfg_msg_packet), cas_cfg_msg_packet);
@@ -472,6 +472,9 @@ bool GPS::setup()
// Turn off GSV messages, we don't really care about which and where the sats are, maybe someday.
_serial_gps->write("$CFGMSG,0,3,0\r\n");
delay(250);
// Turn off GSA messages, TinyGPS++ doesn't use this message.
_serial_gps->write("$CFGMSG,0,2,0\r\n");
delay(250);
// Turn off NOTICE __TXT messages, these may provide Unicore some info but we don't care.
_serial_gps->write("$CFGMSG,6,0,0\r\n");
delay(250);
@@ -1467,7 +1470,7 @@ bool GPS::lookForLocation()
#endif // GPS_EXTRAVERBOSE
// Is this a new point or are we re-reading the previous one?
if (!reader.location.isUpdated())
if (!reader.location.isUpdated() && !reader.altitude.isUpdated())
return false;
// check if a complete GPS solution set is available for reading
@@ -1584,7 +1587,7 @@ bool GPS::hasFlow()
bool GPS::whileIdle()
{
uint charsInBuf = 0;
unsigned int charsInBuf = 0;
bool isValid = false;
if (!isAwake) {
clearBuffer();