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Length check for PUBX,03 messages. Add inSolution status to debug messages

pull/412/head
AvSquirrel 2016-05-14 02:32:11 +00:00
rodzic f02fdf102e
commit fc1870af6a
1 zmienionych plików z 23 dodań i 3 usunięć
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26
main/ry835ai.go
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@ -625,14 +625,26 @@ func processNMEALine(l string) (sentenceUsed bool) {
return true
} else if x[1] == "03" { // satellite status message. Only the first 20 satellites will be reported in this message for UBX firmware older than v3.0. Order seems to be GPS, then SBAS, then GLONASS.
if len(x) < 3 { // malformed UBX,03 message that somehow passed checksum verification but is missing all of its fields
return false
}
// field 2 = number of satellites tracked
//satSeen := 0 // satellites seen (signal present)
satTracked, err := strconv.Atoi(x[2])
if err != nil {
return false
}
if globalSettings.DEBUG {
log.Printf("PUBX,03 message with %d satellites is %d fields long.\n", satTracked, len(x))
log.Printf("GPS PUBX,03 message with %d satellites is %d fields long. (Should be %d fields long)\n", satTracked, len(x), satTracked*6+3)
}
if len(x) < (satTracked*6 + 3) { // malformed UBX,03 message that somehow passed checksum verification but is missing some of its fields
if globalSettings.DEBUG {
log.Printf("GPS PUBX,03 message is missing fields\n")
}
return false
}
mySituation.SatellitesTracked = uint16(satTracked) // requires UBX M8N firmware v3.01 or later to report > 20 satellites
@ -732,7 +744,11 @@ func processNMEALine(l string) (sentenceUsed bool) {
}
if globalSettings.DEBUG {
log.Printf("UBX: 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?
inSolnStr := " "
if thisSatellite.InSolution {
inSolnStr = "+"
}
log.Printf("UBX: Satellite %s%s at index %d. Type = %d, NMEA-ID = %d, Elev = %d, Azimuth = %d, Cno = %d\n", inSolnStr, svStr, i, svType, sv, elev, az, cno) // remove later?
}
Satellites[thisSatellite.SatelliteID] = thisSatellite // Update constellation with this satellite
@ -1253,7 +1269,11 @@ func processNMEALine(l string) (sentenceUsed bool) {
}
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?
inSolnStr := " "
if thisSatellite.InSolution {
inSolnStr = "+"
}
log.Printf("GSV: Satellite %s%s at index %d. Type = %d, NMEA-ID = %d, Elev = %d, Azimuth = %d, Cno = %d\n", inSolnStr, svStr, i, svType, sv, elev, az, cno) // remove later?
}
Satellites[thisSatellite.SatelliteID] = thisSatellite // Update constellation with this satellite