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AP_NMEA_Output: UTC time decimal places, gps fix type, number of satellites and hdop.

This commit is contained in:
Liam 2023-03-10 10:56:09 +11:00 committed by Tom Pittenger
parent 10f7a363ed
commit 41ba830008
1 changed files with 11 additions and 5 deletions
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16
libraries/AP_NMEA_Output/AP_NMEA_Output.cpp
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@ -104,16 +104,22 @@ void AP_NMEA_Output::update()
// format time string
char tstring[11];
snprintf(tstring, sizeof(tstring), "%02u%02u%06.3f", tm->tm_hour, tm->tm_min, tm->tm_sec + (time_usec % 1000000) * 1.0e-6);
snprintf(tstring, sizeof(tstring), "%02u%02u%06.2f", tm->tm_hour, tm->tm_min, tm->tm_sec + (time_usec % 1000000) * 1.0e-6);
// get location (note: get_location from AHRS always returns true after having GPS position once)
Location loc;
uint8_t num_sats;
uint16_t hdop;
uint8_t gps_status;
#ifndef HAL_BUILD_AP_PERIPH
auto &ahrs = AP::ahrs();
const bool pos_valid = ahrs.get_location(loc);
#else
const bool pos_valid = AP::gps().status() >= AP_GPS::GPS_OK_FIX_3D;
loc = AP::gps().location();
num_sats = AP::gps().num_sats();
hdop = AP::gps().get_hdop();
gps_status = AP::gps().status();
#endif
// format latitude
@ -144,13 +150,13 @@ void AP_NMEA_Output::update()
if ((_message_enable_bitmask.get() & static_cast<int16_t>(Enabled_Messages::GPGGA)) != 0) {
// format GGA message
gga_length = nmea_printf_buffer(gga, sizeof(gga),
"$GPGGA,%s,%s,%s,%01d,%02d,%04.1f,%07.2f,M,0.0,M,,",
"$GPGGA,%s,%s,%s,%01d,%02d,%04.1f,%07.1f,M,0.0,M,,",
tstring,
lat_string,
lng_string,
pos_valid ? 1 : 0,
pos_valid ? 6 : 3,
2.0,
status,
num_sats,
hdop,
loc.alt * 0.01f);
space_required += gga_length;