kopia lustrzana https://github.com/cyoung/stratux
Formatting.
Christopher Young
rodzic
052b4e2855
commit
60e143bd36
|
|
@ -169,7 +169,6 @@ func initGPSSerial() bool {
|
|||
// Set 10Hz update. Little endian order.
|
||||
p.Write(makeUBXCFG(0x06, 0x08, 6, []byte{0x64, 0x00, 0x01, 0x00, 0x01, 0x00}))
|
||||
|
||||
|
||||
// Set navigation settings.
|
||||
nav := make([]byte, 36)
|
||||
nav[0] = 0x05 // Set dyn and fixMode only.
|
||||
|
|
@ -180,7 +179,6 @@ func initGPSSerial() bool {
|
|||
|
||||
p.Write(makeUBXCFG(0x06, 0x24, 36, nav))
|
||||
|
||||
|
||||
// GNSS configuration CFG-GNSS for ublox 7 higher, p. 125 (v8)
|
||||
//
|
||||
// NOTE: Max position rate = 5 Hz if GPS+GLONASS used.
|
||||
|
|
@ -295,7 +293,7 @@ func validateNMEAChecksum(s string) (string, bool) {
|
|||
s_out := s_split[0]
|
||||
s_cs := s_split[1]
|
||||
|
||||
if (len(s_cs) < 2) {
|
||||
if len(s_cs) < 2 {
|
||||
return "Missing checksum. Fewer than two bytes after asterisk", false
|
||||
}
|
||||
|
||||
|
|
@ -309,26 +307,24 @@ func validateNMEAChecksum(s string) (string, bool) {
|
|||
cs_calc = cs_calc ^ byte(s_out[i])
|
||||
}
|
||||
|
||||
if (cs_calc != byte(cs)) {
|
||||
if cs_calc != byte(cs) {
|
||||
return fmt.Sprintf("Checksum failed. Calculated %#X; expected %#X", cs_calc, cs), false
|
||||
}
|
||||
|
||||
return s_out, true
|
||||
}
|
||||
|
||||
|
||||
|
||||
func processNMEALine(l string) bool {
|
||||
replayLog(l, MSGCLASS_GPS)
|
||||
l_valid, validNMEAcs := validateNMEAChecksum(l)
|
||||
if (!validNMEAcs) {
|
||||
if !validNMEAcs {
|
||||
log.Printf("GPS error. Invalid NMEA string: %s\n", l_valid) // remove log message once validation complete
|
||||
return false
|
||||
}
|
||||
x := strings.Split(l_valid, ",")
|
||||
|
||||
if (x[0] == "PUBX") { // UBX proprietary message
|
||||
if (x[1] == "00") { // position message
|
||||
if x[0] == "PUBX" { // UBX proprietary message
|
||||
if x[1] == "00" { // position message
|
||||
if len(x) < 20 {
|
||||
return false
|
||||
}
|
||||
|
|
@ -393,13 +389,13 @@ func processNMEALine(l string) bool {
|
|||
// field 8 = nav status
|
||||
// DR = dead reckoning, G2= 2D GPS, G3 = 3D GPS, D2= 2D diff, D3 = 3D diff, RK = GPS+DR, TT = time only
|
||||
|
||||
if (x[8] == "D2" || x[8] == "D3") {
|
||||
if x[8] == "D2" || x[8] == "D3" {
|
||||
mySituation.quality = 2
|
||||
} else if (x[8] == "G2" || x[8] == "G3") {
|
||||
} else if x[8] == "G2" || x[8] == "G3" {
|
||||
mySituation.quality = 1
|
||||
} else if (x[8] == "DR" || x[8] == "RK") {
|
||||
} else if x[8] == "DR" || x[8] == "RK" {
|
||||
mySituation.quality = 6
|
||||
} else if (x[8] == "NF") {
|
||||
} else if x[8] == "NF" {
|
||||
mySituation.quality = 0
|
||||
return false // return false if no valid fix.
|
||||
} else {
|
||||
|
|
@ -430,7 +426,6 @@ func processNMEALine(l string) bool {
|
|||
mySituation.NACp = 0
|
||||
}
|
||||
|
||||
|
||||
// field 10 = vertical accuracy, m
|
||||
vAcc, err := strconv.ParseFloat(x[10], 32)
|
||||
if err != nil {
|
||||
|
|
@ -438,7 +433,6 @@ func processNMEALine(l string) bool {
|
|||
}
|
||||
mySituation.AccuracyVert = float32(vAcc * 2) // UBX reports 1-sigma variation; we want 95% confidence
|
||||
|
||||
|
||||
// field 11 = groundspeed, km/h
|
||||
groundspeed, err := strconv.ParseFloat(x[11], 32)
|
||||
if err != nil {
|
||||
|
|
@ -469,8 +463,6 @@ func processNMEALine(l string) bool {
|
|||
mySituation.GroundSpeed = uint16(groundspeed)
|
||||
mySituation.LastGroundTrackTime = time.Now()
|
||||
|
||||
|
||||
|
||||
// field 13 = vertical velocity, m/s
|
||||
vv, err := strconv.ParseFloat(x[13], 32)
|
||||
if err != nil {
|
||||
|
|
@ -478,11 +470,8 @@ func processNMEALine(l string) bool {
|
|||
}
|
||||
mySituation.GPSVertVel = float32(vv * -3.28084) // convert to ft/sec and positive = up
|
||||
|
||||
|
||||
|
||||
// field 14 = age of diff corrections
|
||||
|
||||
|
||||
// field 18 = number of satellites
|
||||
sat, err1 := strconv.Atoi(x[18])
|
||||
if err1 != nil {
|
||||
|
|
@ -492,7 +481,7 @@ func processNMEALine(l string) bool {
|
|||
|
||||
mySituation.LastFixLocalTime = time.Now()
|
||||
|
||||
} else if (x[1] == "03") { // satellite status message
|
||||
} else if x[1] == "03" { // satellite status message
|
||||
|
||||
// field 2 = number of satellites tracked
|
||||
satSeen := 0 // satellites seen (signal present)
|
||||
|
|
@ -504,7 +493,7 @@ func processNMEALine(l string) bool {
|
|||
|
||||
// fields 3-8 are repeated block
|
||||
for i := 0; i < satTracked; i++ {
|
||||
if (x[7+6*i] != "") {
|
||||
if x[7+6*i] != "" {
|
||||
satSeen++
|
||||
}
|
||||
}
|
||||
|
|
@ -512,7 +501,6 @@ func processNMEALine(l string) bool {
|
|||
mySituation.SatellitesSeen = uint16(satSeen)
|
||||
// log.Printf("Satellites with signal: %v\n",mySituation.SatellitesSeen)
|
||||
|
||||
|
||||
/* Reference for future constellation tracking
|
||||
for i:= 0; i < satTracked; i++ {
|
||||
x[3+6*i] // sv number
|
||||
|
|
@ -523,7 +511,7 @@ func processNMEALine(l string) bool {
|
|||
x[8+6*i] // lock time, sec, 0-64
|
||||
*/
|
||||
|
||||
} else if (x[1] == "04") { // clock message
|
||||
} else if x[1] == "04" { // clock message
|
||||
|
||||
// field 2 is UTC time
|
||||
if len(x[2]) < 9 {
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue