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Cleanup.

pull/191/head
Christopher Young 2016-01-05 11:08:16 -05:00
rodzic cc41a25900
commit b0d1299fce
1 zmienionych plików z 23 dodań i 45 usunięć
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68
main/ry835ai.go
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@ -329,6 +329,26 @@ func setTrueCourse(groundSpeed, trueCourse uint16) {
} }
} }
func calculateNACp(accuracy float32) uint8 {
ret := uint8(0)
if accuracy < 3 {
ret = 11
} else if accuracy < 10 {
ret = 10
} else if accuracy < 30 {
ret = 9
} else if accuracy < 92.6 {
ret = 8
} else if accuracy < 185.2 {
ret = 7
} else if accuracy < 555.6 {
ret = 6
}
return ret
}
func processNMEALine(l string) bool { func processNMEALine(l string) bool {
replayLog(l, MSGCLASS_GPS) replayLog(l, MSGCLASS_GPS)
l_valid, validNMEAcs := validateNMEAChecksum(l) l_valid, validNMEAcs := validateNMEAChecksum(l)
@ -425,21 +445,7 @@ func processNMEALine(l string) bool {
mySituation.Accuracy = float32(hAcc * 2) // UBX reports 1-sigma variation; NACp is 95% confidence (2-sigma) mySituation.Accuracy = float32(hAcc * 2) // UBX reports 1-sigma variation; NACp is 95% confidence (2-sigma)
// NACp estimate. // NACp estimate.
if mySituation.Accuracy < 3 { mySituation.NACp = calculateNACp(mySituation.Accuracy)
mySituation.NACp = 11
} else if mySituation.Accuracy < 10 {
mySituation.NACp = 10
} else if mySituation.Accuracy < 30 {
mySituation.NACp = 9
} else if mySituation.Accuracy < 92.6 {
mySituation.NACp = 8
} else if mySituation.Accuracy < 185.2 {
mySituation.NACp = 7
} else if mySituation.Accuracy < 555.6 {
mySituation.NACp = 6
} else {
mySituation.NACp = 0
}
// field 10 = vertical accuracy, m // field 10 = vertical accuracy, m
vAcc, err := strconv.ParseFloat(x[10], 32) vAcc, err := strconv.ParseFloat(x[10], 32)
@ -678,21 +684,7 @@ func processNMEALine(l string) bool {
} }
// NACp estimate. // NACp estimate.
if mySituation.Accuracy < 3 { mySituation.NACp = calculateNACp(mySituation.Accuracy)
mySituation.NACp = 11
} else if mySituation.Accuracy < 10 {
mySituation.NACp = 10
} else if mySituation.Accuracy < 30 {
mySituation.NACp = 9
} else if mySituation.Accuracy < 92.6 {
mySituation.NACp = 8
} else if mySituation.Accuracy < 185.2 {
mySituation.NACp = 7
} else if mySituation.Accuracy < 555.6 {
mySituation.NACp = 6
} else {
mySituation.NACp = 0
}
*/ */
// Altitude. // Altitude.
@ -851,21 +843,7 @@ func processNMEALine(l string) bool {
} }
// NACp estimate. // NACp estimate.
if mySituation.Accuracy < 3 { mySituation.NACp = calculateNACp(mySituation.Accuracy)
mySituation.NACp = 11
} else if mySituation.Accuracy < 10 {
mySituation.NACp = 10
} else if mySituation.Accuracy < 30 {
mySituation.NACp = 9
} else if mySituation.Accuracy < 92.6 {
mySituation.NACp = 8
} else if mySituation.Accuracy < 185.2 {
mySituation.NACp = 7
} else if mySituation.Accuracy < 555.6 {
mySituation.NACp = 6
} else {
mySituation.NACp = 0
}
// field 17: VDOP // field 17: VDOP
// accuracy estimate // accuracy estimate