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Modules/GPS: Fixed NMEA parser to still update GPSPosition in case of errors, but with error flagged.

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Corvus Corax 2012-05-13 16:07:14 +02:00 committed by James Cotton
parent 1972470dcb
commit 720ae43a5e
1 changed files with 29 additions and 35 deletions
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64
flight/Modules/GPS/NMEA.c
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@ -58,6 +58,8 @@
#endif
#define MAX_NB_PARAMS 20
#define NMEA_DOP_NOFIX 99.99
/* NMEA sentence parsers */
struct nmea_parser {
@ -393,19 +395,14 @@ static bool nmeaProcessGPGGA(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
*gpsDataUpdated = true;
// get latitude [DDMM.mmmmm] [N|S]
if (!NMEA_latlon_to_fixed_point(&GpsData->Latitude, param[2], param[3][0] == 'S')) {
return false;
}
if (!NMEA_latlon_to_fixed_point(&GpsData->Latitude, param[2], param[3][0] == 'S') ||
// get longitude [dddmm.mmmmm] [E|W]
!NMEA_latlon_to_fixed_point(&GpsData->Longitude, param[4], param[5][0] == 'W') ||
// check for invalid GPS fix
param[6][0] == '0') {
// get longitude [dddmm.mmmmm] [E|W]
if (!NMEA_latlon_to_fixed_point(&GpsData->Longitude, param[4], param[5][0] == 'W')) {
return false;
}
// check for invalid GPS fix
if (param[6][0] == '0') {
return false;
GpsData->Status = GPSPOSITION_STATUS_NOFIX;
GpsData->PDOP = GpsData->HDOP = GpsData->VDOP = NMEA_DOP_NOFIX;
}
// get number of satellites used in GPS solution
GpsData->Satellites = atoi(param[7]);
@ -449,30 +446,7 @@ static bool nmeaProcessGPRMC(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
gpst.Second = (int)hms % 100;
gpst.Minute = (((int)hms - gpst.Second) / 100) % 100;
gpst.Hour = (int)hms / 10000;
#endif //PIOS_GPS_MINIMAL
// don't process void sentences
if (param[2][0] == 'V') {
return false;
}
// get latitude [DDMM.mmmmm] [N|S]
if (!NMEA_latlon_to_fixed_point(&GpsData->Latitude, param[3], param[4][0] == 'S')) {
return false;
}
// get longitude [dddmm.mmmmm] [E|W]
if (!NMEA_latlon_to_fixed_point(&GpsData->Longitude, param[5], param[6][0] == 'W')) {
return false;
}
// get speed in knots
GpsData->Groundspeed = NMEA_real_to_float(param[7]) * 0.51444f; // to m/s
// get True course
GpsData->Heading = NMEA_real_to_float(param[8]);
#if !defined(PIOS_GPS_MINIMAL)
// get Date of fix
// TODO: Should really not use a float here to be safe
float date = NMEA_real_to_float(param[9]);
@ -483,6 +457,26 @@ static bool nmeaProcessGPRMC(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
GPSTimeSet(&gpst);
#endif //PIOS_GPS_MINIMAL
// don't process void sentences
if (param[2][0] == 'V') {
return false;
}
// get latitude [DDMM.mmmmm] [N|S]
if (!NMEA_latlon_to_fixed_point(&GpsData->Latitude, param[3], param[4][0] == 'S') ||
// get longitude [dddmm.mmmmm] [E|W]
!NMEA_latlon_to_fixed_point(&GpsData->Longitude, param[5], param[6][0] == 'W')) {
GpsData->Status = GPSPOSITION_STATUS_NOFIX;
GpsData->PDOP = GpsData->HDOP = GpsData->VDOP = NMEA_DOP_NOFIX;
}
// get speed in knots
GpsData->Groundspeed = NMEA_real_to_float(param[7]) * 0.51444f; // to m/s
// get True course
GpsData->Heading = NMEA_real_to_float(param[8]);
return true;
}