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Code Issues Releases Activity

OP-324 Make NMEA parser more resilient to corrupted messages - For the new GTOP GPS FW, parsing of the VTG message is needed to get Heading and GroundSpeed

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2960 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
FredericG 2011-03-04 07:57:18 +00:00 committed by FredericG
parent 3e52d08b2b
commit 32c7596636
1 changed files with 15 additions and 4 deletions
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19
flight/Modules/GPS/NMEA.c
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@ -44,13 +44,13 @@
// Debugging
#ifdef ENABLE_DEBUG_MSG
//#define DEBUG_MSG_IN ///< define to display the incoming NMEA messages
#define DEBUG_MSG_IN ///< define to display the incoming NMEA messages
//#define DEBUG_PARS ///< define to display the incoming NMEA messages split into its parameters
//#define DEBUG_MGSID_IN ///< define to display the the names of the incoming NMEA messages
//#define NMEA_DEBUG_PKT ///< define to enable debug of all NMEA messages
//#define NMEA_DEBUG_GGA ///< define to enable debug of GGA messages
//#define NMEA_DEBUG_VTG ///< define to enable debug of VTG messages
//#define NMEA_DEBUG_RMC ///< define to enable debug of RMC messages
#define NMEA_DEBUG_RMC ///< define to enable debug of RMC messages
//#define NMEA_DEBUG_GSA ///< define to enable debug of GSA messages
//#define NMEA_DEBUG_GSV ///< define to enable debug of GSV messages
//#define NMEA_DEBUG_ZDA ///< define to enable debug of ZDA messages
@ -489,8 +489,19 @@ static bool nmeaProcessGPRMC(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
*/
static bool nmeaProcessGPVTG(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam)
{
// No new data data extracted
*gpsDataUpdated = false;
if (nbParam != 9 && nbParam != 10 /*GTOP GPS seems to gemnerate an extra parameter...*/)
return false;
#ifdef NMEA_DEBUG_RMC
DEBUG_MSG("\n Heading=%s %s\n", param[1], param[2]);
DEBUG_MSG(" GroundSpeed=%s %s\n", param[5], param[6]);
#endif
*gpsDataUpdated = true;
GpsData->Heading = NMEA_real_to_float(param[1]);
GpsData->Groundspeed = NMEA_real_to_float(param[5]) * 0.51444; // to m/s
return true;
}