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9b25818a50
@professr I noticed you added a "newStatus" observable to the GPS class. Do you remember why you didn't remove the old GPS status (which seemed to be dumber). Is it just because you didn't want to risk breaking MeshService? (I assume) In this change I removed the old Observable and all seems well (just using newStatus everywhere).
75 lines
2.8 KiB
C++
75 lines
2.8 KiB
C++
#include "NEMAGPS.h"
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#include "configuration.h"
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#include "timing.h"
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static int32_t toDegInt(RawDegrees d)
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{
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int32_t degMult = 10000000; // 1e7
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int32_t r = d.deg * degMult + d.billionths / 100;
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if (d.negative)
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r *= -1;
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return r;
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}
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void NEMAGPS::loop()
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{
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while (_serial_gps->available() > 0) {
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int c = _serial_gps->read();
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// Serial.write(c);
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reader.encode(c);
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}
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uint32_t now = timing::millis();
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if ((now - lastUpdateMsec) > 20 * 1000) { // Ugly hack for now - limit update checks to once every 20 secs (but still consume
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// serial chars at whatever rate)
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lastUpdateMsec = now;
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auto ti = reader.time;
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auto d = reader.date;
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if (ti.isUpdated() && ti.isValid() && d.isValid()) {
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/* Convert to unix time
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The Unix epoch (or Unix time or POSIX time or Unix timestamp) is the number of seconds that have elapsed since January 1, 1970
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(midnight UTC/GMT), not counting leap seconds (in ISO 8601: 1970-01-01T00:00:00Z).
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*/
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struct tm t;
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t.tm_sec = ti.second();
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t.tm_min = ti.minute();
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t.tm_hour = ti.hour();
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t.tm_mday = d.day();
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t.tm_mon = d.month() - 1;
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t.tm_year = d.year() - 1900;
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t.tm_isdst = false;
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perhapsSetRTC(t);
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isConnected = true; // we seem to have a real GPS (but not necessarily a lock)
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}
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if (reader.location.isUpdated()) {
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if (reader.altitude.isValid())
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altitude = reader.altitude.meters();
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if (reader.location.isValid()) {
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auto loc = reader.location.value();
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latitude = toDegInt(loc.lat);
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longitude = toDegInt(loc.lng);
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}
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// Diminution of precision (an accuracy metric) is reported in 10^2 units, so we need to scale down when we use it
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if (reader.hdop.isValid()) {
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dop = reader.hdop.value();
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}
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if (reader.course.isValid()) {
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heading = reader.course.value() * 1e3; //Scale the heading (in degrees * 10^-2) to match the expected degrees * 10^-5
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}
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if (reader.satellites.isValid()) {
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numSatellites = reader.satellites.value();
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}
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// expect gps pos lat=37.520825, lon=-122.309162, alt=158
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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);
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}
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// Notify any status instances that are observing us
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const meshtastic::GPSStatus status = meshtastic::GPSStatus(hasLock(), isConnected, latitude, longitude, altitude, dop, heading, numSatellites);
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newStatus.notifyObservers(&status);
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}
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} |