rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-18 03:52:11 +01:00
Code Issues Releases Activity

Pass GPSPositionData as a function argument instead of using a global variable.

Browse Source
This commit is contained in:
Werner Backes 2012-07-10 17:35:35 +02:00
parent feb063dda7
commit a77a367df2
1 changed files with 20 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

34
flight/Modules/GPS/NMEA.c
View File

@ -35,7 +35,6 @@
#include "gpsposition.h"
#include "NMEA.h"
#include "gpsposition.h"
#include "gpstime.h"
#include "gpssatellites.h"
#include "GPS.h"
@ -324,6 +323,10 @@ static bool NMEA_latlon_to_fixed_point(int32_t * latlon, char *nmea_latlon, bool
PIOS_DEBUG_Assert(nmea_latlon);
PIOS_DEBUG_Assert(latlon);
if (*nmea_latlon == '\0') { /* empty lat/lon field */
return false;
}
if (!NMEA_parse_real(&num_DDDMM, &num_m, &units, nmea_latlon)) {
return false;
}
@ -375,7 +378,7 @@ static bool NMEA_latlon_to_fixed_point(int32_t * latlon, char *nmea_latlon, bool
* \return true if the sentence was successfully parsed
* \return false if any errors were encountered with the parsing
*/
bool NMEA_update_position(char *nmea_sentence)
bool NMEA_update_position(char *nmea_sentence, GPSPositionData *GpsData)
{
char* p = nmea_sentence;
char* params[MAX_NB_PARAMS];
@ -429,12 +432,10 @@ bool NMEA_update_position(char *nmea_sentence)
#ifdef DEBUG_MGSID_IN
DEBUG_MSG("%s %d ", params[0], parser->cnt);
#endif
// Send the message to then parser and get it update the GpsData
GPSPositionData GpsData;
GPSPositionGet(&GpsData);
bool gpsDataUpdated;
// Send the message to the parser and get it update the GpsData
bool gpsDataUpdated = false;
if (!parser->handler(&GpsData, &gpsDataUpdated, params, nbParams)) {
if (!parser->handler(GpsData, &gpsDataUpdated, params, nbParams)) {
// Parse failed
DEBUG_MSG("PARSE FAILED (\"%s\")\n", params[0]);
return false;
@ -446,7 +447,7 @@ bool NMEA_update_position(char *nmea_sentence)
#ifdef DEBUG_MGSID_IN
DEBUG_MSG("U");
#endif
GPSPositionSet(&GpsData);
GPSPositionSet(GpsData);
}
#ifdef DEBUG_MGSID_IN
@ -527,7 +528,7 @@ static bool nmeaProcessGPRMC(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
DEBUG_MSG(" DateOfFix=%s\n\n", param[9]);
#endif
*gpsDataUpdated = true;
*gpsDataUpdated = false;
#if !defined(PIOS_GPS_MINIMAL)
GPSTimeData gpst;
@ -540,6 +541,11 @@ static bool nmeaProcessGPRMC(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
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;
@ -551,7 +557,7 @@ static bool nmeaProcessGPRMC(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
}
// get speed in knots
GpsData->Groundspeed = NMEA_real_to_float(param[7]) * 0.51444; // to m/s
GpsData->Groundspeed = NMEA_real_to_float(param[7]) * 0.51444f; // to m/s
// get True course
GpsData->Heading = NMEA_real_to_float(param[8]);
@ -585,10 +591,10 @@ static bool nmeaProcessGPVTG(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
DEBUG_MSG(" GroundSpeed=%s %s\n", param[5], param[6]);
#endif
*gpsDataUpdated = true;
*gpsDataUpdated = false;
GpsData->Heading = NMEA_real_to_float(param[1]);
GpsData->Groundspeed = NMEA_real_to_float(param[5]) * 0.51444; // to m/s
GpsData->Groundspeed = NMEA_real_to_float(param[5]) * 0.51444f; // to m/s
return true;
}
@ -651,7 +657,7 @@ static bool nmeaProcessGPGSV(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
uint8_t nbSentences = atoi(param[1]);
uint8_t currSentence = atoi(param[2]);
*gpsDataUpdated = true;
*gpsDataUpdated = false;
if (nbSentences < 1 || nbSentences > 8 || currSentence < 1 || currSentence > nbSentences)
return false;
@ -735,7 +741,7 @@ static bool nmeaProcessGPGSA(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
DEBUG_MSG(" VDOP=%s\n", param[17]);
#endif
*gpsDataUpdated = true;
*gpsDataUpdated = false;
switch (atoi(param[2])) {
case 1: