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Merge pull request #178 from AvSquirrel/ahrsFusion 

Check for valid GPS date. Fix time string formatting.
pull/182/merge v0.5b4
cyoung 2016-01-01 13:32:55 -05:00
rodzic bb23bd507f 0f611560d4
commit d682bb5cf0
1 zmienionych plików z 17 dodań i 4 usunięć
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21
main/ry835ai.go
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@ -524,6 +524,18 @@ func processNMEALine(l string) bool {
*/
} else if x[1] == "04" { // clock message
// field 5 is UTC week (epoch = 1980-JAN-06). If this is invalid, do not parse date / time
utcWeek, err0 := strconv.Atoi(x[5])
if err0 != nil {
// log.Printf("Error reading GPS week\n")
return false
}
if utcWeek < 1877 || utcWeek >= 32767 { // unless we're in a flying Delorean, UTC dates before 2016-JAN-01 are not valid. Check underflow condition as well.
log.Printf("GPS week # %v out of scope; not setting time and date\n", utcWeek)
return false
} /* else {
log.Printf("GPS week # %v valid; evaluate time and date\n", utcWeek) //debug option
} */
// field 2 is UTC time
if len(x[2]) < 9 {
@ -541,10 +553,11 @@ func processNMEALine(l string) bool {
if len(x[3]) == 6 {
// Date of Fix, i.e 191115 = 19 November 2015 UTC field 9
gpsTimeStr := fmt.Sprintf("%s %d:%d:%d", x[3], hr, min, sec)
gpsTimeStr := fmt.Sprintf("%s %02d:%02d:%02d", x[3], hr, min, sec)
gpsTime, err := time.Parse("020106 15:04:05", gpsTimeStr)
if err == nil {
if time.Since(gpsTime) > 10*time.Minute {
// log.Printf("GPS time is: %s\n", gpsTime) //debug
if time.Since(gpsTime) > 3*time.Second || time.Since(gpsTime) < -3*time.Second {
log.Printf("setting system time to: %s\n", gpsTime)
setStr := gpsTime.Format("20060102 15:04:05")
if err := exec.Command("date", "-s", setStr).Run(); err != nil {
@ -736,10 +749,10 @@ func processNMEALine(l string) bool {
if len(x[9]) == 6 {
// Date of Fix, i.e 191115 = 19 November 2015 UTC field 9
gpsTimeStr := fmt.Sprintf("%s %d:%d:%d", x[9], hr, min, sec)
gpsTimeStr := fmt.Sprintf("%s %02d:%02d:%02d", x[9], hr, min, sec)
gpsTime, err := time.Parse("020106 15:04:05", gpsTimeStr)
if err == nil {
if time.Since(gpsTime) > 10*time.Minute {
if time.Since(gpsTime) > 3*time.Second || time.Since(gpsTime) < -3*time.Second {
log.Printf("setting system time to: %s\n", gpsTime)
setStr := gpsTime.Format("20060102 15:04:05")
if err := exec.Command("date", "-s", setStr).Run(); err != nil {