Add satellite in solution indicator

main/ry835ai.go

@@ -48,6 +48,7 @@ type SatelliteInfo struct {
 	Type            uint8     // Type of satellite (GPS, GLONASS, Galileo, SBAS)
 	TimeLastSeen    time.Time // Time (system ticker) a signal was last received from this satellite
 	TimeLastTracked time.Time // Time (system ticker) this satellite was tracked (almanac data)
+	InSolution      bool      // True if satellite is used in the position solution (reported by GSA message or PUBX,03)
 }
 
 type SituationData struct {
@@ -972,19 +973,57 @@ func processNMEALine(l string) (sentenceUsed bool) {
 		// 1 = no solution; 2 = 2D fix, 3 = 3D fix. WAAS status is parsed from GGA message, so no need to get here
 
 		// fields 3-14: satellites in solution
+		var svStr string
+		var svType uint8
 		sat := 0
+
 		for _, svtxt := range x[3:15] {
-			_, err := strconv.Atoi(svtxt)
+			sv, err := strconv.Atoi(svtxt)
 			if err == nil {
 				sat++
+
+				if sv < 33 { // indicates GPS
+					svType = SAT_TYPE_GPS
+					svStr = fmt.Sprintf("G%d", sv)
+				} else if sv < 65 { // indicates SBAS: WAAS, EGNOS, MSAS, etc.
+					svType = SAT_TYPE_SBAS
+					svStr = fmt.Sprintf("S%d", sv+97) // add 97 to convert from NMEA to PRN.
+				} else if sv < 97 { // GLONASS
+					svType = SAT_TYPE_GLONASS
+					svStr = fmt.Sprintf("R%d", sv-64) // subtract 64 to convert from NMEA to PRN.
+				} else { // TO-DO: GLONASS, Galileo
+					svType = SAT_TYPE_UNKNOWN
+					svStr = fmt.Sprintf("U%d", sv)
+				}
+
+				var thisSatellite SatelliteInfo
+
+				// START OF PROTECTED BLOCK
+				satelliteMutex.Lock()
+
+				// Retrieve previous information on this satellite code.
+				if val, ok := Satellites[svStr]; ok { // if we've already seen this satellite identifier, copy it in to do updates
+					thisSatellite = val
+					//log.Printf("Satellite %s already seen. Retrieving from 'Satellites'.\n", svStr)
+				} else { // this satellite isn't in the Satellites data structure, so create it
+					thisSatellite.SatelliteID = svStr
+					thisSatellite.SatelliteNMEA = uint8(sv)
+					thisSatellite.Type = uint8(svType)
+					log.Printf("Creating new satellite %s from GSA message\n", svStr) // DEBUG
+				}
+				thisSatellite.InSolution = true
+				thisSatellite.TimeLastSeen = stratuxClock.Time    // implied, since this satellite is used in the position solution
+				thisSatellite.TimeLastTracked = stratuxClock.Time // implied, since this satellite is used in the position solution
+
+				Satellites[thisSatellite.SatelliteID] = thisSatellite // Update constellation with this satellite
+				updateConstellation()
+				satelliteMutex.Unlock()
+				// END OF PROTECTED BLOCK
+
 			}
 		}
 		tmpSituation.Satellites = uint16(sat)
 
-		// Satellites tracked / seen should be parsed from GSV message (TO-DO) ... since we don't have it, just use satellites from solution
-		//tmpSituation.SatellitesTracked = uint16(sat) -- moved to GPGSV parsing
-		//tmpSituation.SatellitesSeen = uint16(sat)
-
 		// field 16: HDOP
 		// Accuracy estimate
 		hdop, err1 := strconv.ParseFloat(x[16], 32)
@@ -1071,7 +1110,7 @@ func processNMEALine(l string) (sentenceUsed bool) {
 			// START OF PROTECTED BLOCK
 			satelliteMutex.Lock()
 
-			// Retrieve previous information on this ICAO code.
+			// Retrieve previous information on this satellite code.
 			if val, ok := Satellites[svStr]; ok { // if we've already seen this satellite identifier, copy it in to do updates
 				thisSatellite = val
 				//log.Printf("Satellite %s already seen. Retrieving from 'Satellites'.\n", svStr)
@@ -1103,6 +1142,17 @@ func processNMEALine(l string) (sentenceUsed bool) {
 			}
 			thisSatellite.Signal = int8(cno)
 
+			// hack workaround for GSA 12-sv limitation... if this is a SBAS satellite, we have a SBAS solution, and signal is greater than some threshold, set InSolution
+			if thisSatellite.Type == SAT_TYPE_SBAS {
+				if mySituation.Quality == 2 {
+					if thisSatellite.Signal > 10 {
+						thisSatellite.InSolution = true
+					}
+				} else { // quality == 0 or 1
+					thisSatellite.InSolution = false
+				}
+			}
+
 			if globalSettings.DEBUG {
 				log.Printf("Satellite %s at index %d. Type = %d, NMEA-ID = %d, Elev = %d, Azimuth = %d, Cno = %d\n", svStr, i, svType, sv, elev, az, cno) // remove later?
 			}

web/plates/gps.html

@@ -71,7 +71,7 @@
 
 				<div class="row" ng-repeat="satellite in data_list | orderBy: 'SatelliteNMEA'">
 					<div class="separator"></div>
-					<span class="col-xs-2">{{satellite.SatelliteID}}</span>
+					<span class="col-xs-2">{{satellite.SatelliteID}}<span ng-show="satellite.InSolution">&nbsp;&#x2705;</span></span>
 					<span class="col-xs-2 text-right">{{satellite.SatelliteNMEA}}</span>
 					<span class="col-xs-2 text-right">{{satellite.Elevation < -5 ? "---" : satellite.Elevation}}</span>
 					<span class="col-xs-2 text-right">{{satellite.Azimuth < 0 ? "---" : satellite.Azimuth}}</span>

web/plates/js/gps.js

@@ -123,7 +123,7 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
 		new_satellite.Elevation = obj.Elevation;        // Angle above local horizon, -xx to +90
 		new_satellite.Azimuth = obj.Azimuth;         // Bearing (degrees true), 0-359
 		new_satellite.Signal = obj.Signal;          // Signal strength, 0 - 99; -99 indicates no reception
-		//new_satellite.Type = obj.Type;   
+		new_satellite.InSolution = obj.InSolution;   // is this satellite in the position solution
 	}
 
 	function loadSatellites(data) {