Clean up GPS code and add some flags per #1740

src/GPSStatus.h

@@ -25,21 +25,21 @@ class GPSStatus : public Status
   public:
     GPSStatus() { statusType = STATUS_TYPE_GPS; }
 
-    // proposed for deprecation
-    GPSStatus(bool hasLock, bool isConnected, int32_t latitude, int32_t longitude, int32_t altitude, uint32_t dop,
-              uint32_t heading, uint32_t numSatellites)
-        : Status()
-    {
-        this->hasLock = hasLock;
-        this->isConnected = isConnected;
+    // // proposed for deprecation
+    // GPSStatus(bool hasLock, bool isConnected, int32_t latitude, int32_t longitude, int32_t altitude, uint32_t dop,
+    //           uint32_t heading, uint32_t numSatellites)
+    //     : Status()
+    // {
+    //     this->hasLock = hasLock;
+    //     this->isConnected = isConnected;
 
-        this->p.latitude_i = latitude;
-        this->p.longitude_i = longitude;
-        this->p.altitude = altitude;
-        this->p.PDOP = dop;
-        this->p.ground_track = heading;
-        this->p.sats_in_view = numSatellites;
-    }
+    //     this->p.latitude_i = latitude;
+    //     this->p.longitude_i = longitude;
+    //     this->p.altitude = altitude;
+    //     this->p.PDOP = dop;
+    //     this->p.ground_track = heading;
+    //     this->p.sats_in_view = numSatellites;
+    // }
 
     // preferred method
     GPSStatus(bool hasLock, bool isConnected, const Position &pos) : Status()
@@ -114,6 +114,7 @@ class GPSStatus : public Status
                 newStatus->p.latitude_i != p.latitude_i || newStatus->p.longitude_i != p.longitude_i ||
                 newStatus->p.altitude != p.altitude || newStatus->p.altitude_hae != p.altitude_hae ||
                 newStatus->p.PDOP != p.PDOP || newStatus->p.ground_track != p.ground_track ||
+                newStatus->p.ground_speed != p.ground_speed ||
                 newStatus->p.sats_in_view != p.sats_in_view);
     }
 
@@ -136,9 +137,9 @@ class GPSStatus : public Status
         if (isDirty) {
             if (hasLock) {
                 // In debug logs, identify position by @timestamp:stage (stage 3 = notify)
-                DEBUG_MSG("New GPS pos@%x:3 lat=%f, lon=%f, alt=%d, pdop=%.2f, track=%.2f, sats=%d\n", p.timestamp,
+                DEBUG_MSG("New GPS pos@%x:3 lat=%f, lon=%f, alt=%d, pdop=%.2f, track=%.2f, speed=%.2f, sats=%d\n", p.timestamp,
                           p.latitude_i * 1e-7, p.longitude_i * 1e-7, p.altitude, p.PDOP * 1e-2, p.ground_track * 1e-5,
-                          p.sats_in_view);
+                          p.ground_speed * 1e-2, p.sats_in_view);
             } else
                 DEBUG_MSG("No GPS lock\n");
             onNewStatus.notifyObservers(this);

src/gps/NMEAGPS.cpp

@@ -223,13 +223,10 @@ bool NMEAGPS::lookForLocation()
         }
     }
 
-/*
-    // REDUNDANT?
-    // expect gps pos lat=37.520825, lon=-122.309162, alt=158
-    DEBUG_MSG("new NMEA GPS pos lat=%f, lon=%f, alt=%d, dop=%g, heading=%f\n",
-              latitude * 1e-7, longitude * 1e-7, altitude, dop * 1e-2,
-              heading * 1e-5);
-*/
+    if (reader.speed.isUpdated() && reader.speed.isValid()) {
+        p.ground_speed = reader.speed.kmph() * 1e3; // Scale the speed (in km/h * 10^-2) to match the expected m/s * 10^-5
+    }
+
     return true;
 }
 

src/modules/PositionModule.cpp

@@ -58,6 +58,8 @@ MeshPacket *PositionModule::allocReply()
     NodeInfo *node = service.refreshMyNodeInfo(); // should guarantee there is now a position
     assert(node->has_position);
 
+    node->position.seq_number++;
+
     // configuration of POSITION packet
     //   consider making this a function argument?
     uint32_t pos_flags = config.position.position_flags;
@@ -97,6 +99,12 @@ MeshPacket *PositionModule::allocReply()
     if (pos_flags & Config_PositionConfig_PositionFlags_SEQ_NO)
         p.seq_number = node->position.seq_number;
 
+    if (pos_flags & Config_PositionConfig_PositionFlags_HEADING)
+        p.ground_track = node->position.ground_track;
+
+    if (pos_flags & Config_PositionConfig_PositionFlags_SPEED)
+        p.ground_speed = node->position.ground_speed;
+
     // Strip out any time information before sending packets to other nodes - to keep the wire size small (and because other
     // nodes shouldn't trust it anyways) Note: we allow a device with a local GPS to include the time, so that gpsless
     // devices can get time.