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AP_WindVane_NMEA: decode each sentence once

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Iampete1 2020-07-20 23:34:13 +01:00 committed by Andrew Tridgell
parent 2adbaf1a1d
commit 89217a3804
2 changed files with 7 additions and 0 deletions
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6
libraries/AP_WindVane/AP_WindVane_NMEA.cpp
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@ -86,6 +86,10 @@ bool AP_WindVane_NMEA::decode(char c)
case '\n':
case '*':
{
if (_sentence_done) {
return false;
}
// null terminate and decode latest term
_term[_term_offset] = 0;
bool valid_sentence = decode_latest_term();
@ -105,6 +109,7 @@ bool AP_WindVane_NMEA::decode(char c)
_term_is_checksum = false;
_wind_dir_deg = -1.0f;
_speed_ms = -1.0f;
_sentence_done = false;
return false;
}
@ -125,6 +130,7 @@ bool AP_WindVane_NMEA::decode_latest_term()
{
// handle the last term in a message
if (_term_is_checksum) {
_sentence_done = true;
uint8_t checksum = 16 * char_to_hex(_term[0]) + char_to_hex(_term[1]);
return ((checksum == _checksum) && _sentence_valid);
}

1
libraries/AP_WindVane/AP_WindVane_NMEA.h
View File

@ -55,4 +55,5 @@ private:
uint8_t _checksum; // checksum accumulator
bool _term_is_checksum; // current term is the checksum
bool _sentence_valid; // is current sentence valid so far
bool _sentence_done; // true if this sentence has already been decoded
};