mirror of https://github.com/ArduPilot/ardupilot
uncrustify libraries/AP_GPS/AP_GPS_NMEA.cpp
This commit is contained in:
uncrustify
Pat Hickey
parent
a8ed24da6c
commit
da81115079
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@ -41,16 +41,16 @@
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// the autodetection process.
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//
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const prog_char AP_GPS_NMEA::_SiRF_init_string[] PROGMEM =
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"$PSRF103,0,0,1,1*25\r\n" // GGA @ 1Hz
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"$PSRF103,1,0,0,1*25\r\n" // GLL off
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"$PSRF103,2,0,0,1*26\r\n" // GSA off
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"$PSRF103,3,0,0,1*27\r\n" // GSV off
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"$PSRF103,4,0,1,1*20\r\n" // RMC off
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"$PSRF103,5,0,1,1*20\r\n" // VTG @ 1Hz
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"$PSRF103,6,0,0,1*22\r\n" // MSS off
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"$PSRF103,8,0,0,1*2C\r\n" // ZDA off
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"$PSRF151,1*3F\r\n" // WAAS on (not always supported)
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"$PSRF106,21*0F\r\n" // datum = WGS84
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"$PSRF103,0,0,1,1*25\r\n" // GGA @ 1Hz
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"$PSRF103,1,0,0,1*25\r\n" // GLL off
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"$PSRF103,2,0,0,1*26\r\n" // GSA off
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"$PSRF103,3,0,0,1*27\r\n" // GSV off
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"$PSRF103,4,0,1,1*20\r\n" // RMC off
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"$PSRF103,5,0,1,1*20\r\n" // VTG @ 1Hz
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"$PSRF103,6,0,0,1*22\r\n" // MSS off
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"$PSRF103,8,0,0,1*2C\r\n" // ZDA off
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"$PSRF151,1*3F\r\n" // WAAS on (not always supported)
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"$PSRF106,21*0F\r\n" // datum = WGS84
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"";
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// MediaTek init messages //////////////////////////////////////////////////////
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@ -59,10 +59,10 @@ const prog_char AP_GPS_NMEA::_SiRF_init_string[] PROGMEM =
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// MediaTek-based GPS.
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//
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const prog_char AP_GPS_NMEA::_MTK_init_string[] PROGMEM =
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"$PMTK314,0,0,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n" // GGA & VTG once every fix
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"$PMTK330,0*2E\r\n" // datum = WGS84
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"$PMTK313,1*2E\r\n" // SBAS on
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"$PMTK301,2*2E\r\n" // use SBAS data for DGPS
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"$PMTK314,0,0,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n" // GGA & VTG once every fix
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"$PMTK330,0*2E\r\n" // datum = WGS84
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"$PMTK313,1*2E\r\n" // SBAS on
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"$PMTK301,2*2E\r\n" // use SBAS data for DGPS
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"";
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// ublox init messages /////////////////////////////////////////////////////////
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@ -75,9 +75,9 @@ const prog_char AP_GPS_NMEA::_MTK_init_string[] PROGMEM =
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// and we don't know the baudrate.
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//
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const prog_char AP_GPS_NMEA::_ublox_init_string[] PROGMEM =
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"$PUBX,40,gga,0,1,0,0,0,0*7B\r\n" // GGA on at one per fix
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"$PUBX,40,vtg,0,1,0,0,0,0*7F\r\n" // VTG on at one per fix
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"$PUBX,40,rmc,0,0,0,0,0,0*67\r\n" // RMC off (XXX suppress other message types?)
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"$PUBX,40,gga,0,1,0,0,0,0*7B\r\n" // GGA on at one per fix
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"$PUBX,40,vtg,0,1,0,0,0,0*7F\r\n" // VTG on at one per fix
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"$PUBX,40,rmc,0,0,0,0,0,0*67\r\n" // RMC off (XXX suppress other message types?)
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"";
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// NMEA message identifiers ////////////////////////////////////////////////////
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@ -88,7 +88,7 @@ const char AP_GPS_NMEA::_gpvtg_string[] PROGMEM = "GPVTG";
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// Convenience macros //////////////////////////////////////////////////////////
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//
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#define DIGIT_TO_VAL(_x) (_x - '0')
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#define DIGIT_TO_VAL(_x) (_x - '0')
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// Constructors ////////////////////////////////////////////////////////////////
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AP_GPS_NMEA::AP_GPS_NMEA(Stream *s) :
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@ -99,7 +99,7 @@ AP_GPS_NMEA::AP_GPS_NMEA(Stream *s) :
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// Public Methods //////////////////////////////////////////////////////////////
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void AP_GPS_NMEA::init(enum GPS_Engine_Setting nav_setting)
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{
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BetterStream *bs = (BetterStream *)_port;
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BetterStream *bs = (BetterStream *)_port;
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// send the SiRF init strings
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bs->print_P((const prog_char_t *)_SiRF_init_string);
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@ -198,7 +198,7 @@ uint32_t AP_GPS_NMEA::_parse_degrees()
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char *p, *q;
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uint8_t deg = 0, min = 0;
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uint16_t frac_min = 0;
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int32_t ret = 0;
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int32_t ret = 0;
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// scan for decimal point or end of field
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for (p = _term; isdigit(*p); p++)
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@ -230,7 +230,7 @@ uint32_t AP_GPS_NMEA::_parse_degrees()
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frac_min += *q++ - '0';
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}
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}
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ret = (int32_t)deg * (int32_t)1000000UL + (int32_t)((min * 100000UL + frac_min) / 6UL);
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ret = (int32_t)deg * (int32_t)1000000UL + (int32_t)((min * 100000UL + frac_min) / 6UL);
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return ret;
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}
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@ -245,26 +245,26 @@ bool AP_GPS_NMEA::_term_complete()
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if (_gps_data_good) {
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switch (_sentence_type) {
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case _GPS_SENTENCE_GPRMC:
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time = _new_time;
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date = _new_date;
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latitude = _new_latitude * 10; // degrees*10e5 -> 10e7
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longitude = _new_longitude * 10; // degrees*10e5 -> 10e7
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ground_speed = _new_speed;
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ground_course = _new_course;
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fix = true;
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time = _new_time;
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date = _new_date;
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latitude = _new_latitude * 10; // degrees*10e5 -> 10e7
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longitude = _new_longitude * 10; // degrees*10e5 -> 10e7
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ground_speed = _new_speed;
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ground_course = _new_course;
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fix = true;
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break;
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case _GPS_SENTENCE_GPGGA:
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altitude = _new_altitude;
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time = _new_time;
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latitude = _new_latitude * 10; // degrees*10e5 -> 10e7
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longitude = _new_longitude * 10; // degrees*10e5 -> 10e7
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num_sats = _new_satellite_count;
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hdop = _new_hdop;
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fix = true;
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altitude = _new_altitude;
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time = _new_time;
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latitude = _new_latitude * 10; // degrees*10e5 -> 10e7
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longitude = _new_longitude * 10; // degrees*10e5 -> 10e7
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num_sats = _new_satellite_count;
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hdop = _new_hdop;
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fix = true;
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break;
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case _GPS_SENTENCE_GPVTG:
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ground_speed = _new_speed;
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ground_course = _new_course;
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ground_speed = _new_speed;
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ground_course = _new_course;
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// VTG has no fix indicator, can't change fix status
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break;
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}
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@ -304,8 +304,8 @@ bool AP_GPS_NMEA::_term_complete()
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// 32 = RMC, 64 = GGA, 96 = VTG
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if (_sentence_type != _GPS_SENTENCE_OTHER && _term[0]) {
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switch (_sentence_type + _term_number) {
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// operational status
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//
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// operational status
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//
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case _GPS_SENTENCE_GPRMC + 2: // validity (RMC)
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_gps_data_good = _term[0] == 'A';
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break;
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@ -322,8 +322,8 @@ bool AP_GPS_NMEA::_term_complete()
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_new_hdop = _parse_decimal();
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break;
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// time and date
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//
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// time and date
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//
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case _GPS_SENTENCE_GPRMC + 1: // Time (RMC)
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case _GPS_SENTENCE_GPGGA + 1: // Time (GGA)
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_new_time = _parse_decimal();
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@ -332,8 +332,8 @@ bool AP_GPS_NMEA::_term_complete()
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_new_date = atol(_term);
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break;
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// location
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//
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// location
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//
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case _GPS_SENTENCE_GPRMC + 3: // Latitude
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case _GPS_SENTENCE_GPGGA + 2:
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_new_latitude = _parse_degrees();
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@ -356,11 +356,11 @@ bool AP_GPS_NMEA::_term_complete()
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_new_altitude = _parse_decimal();
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break;
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// course and speed
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//
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// course and speed
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//
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case _GPS_SENTENCE_GPRMC + 7: // Speed (GPRMC)
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case _GPS_SENTENCE_GPVTG + 5: // Speed (VTG)
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_new_speed = (_parse_decimal() * 514) / 1000; // knots-> m/sec, approximiates * 0.514
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_new_speed = (_parse_decimal() * 514) / 1000; // knots-> m/sec, approximiates * 0.514
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break;
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case _GPS_SENTENCE_GPRMC + 8: // Course (GPRMC)
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case _GPS_SENTENCE_GPVTG + 1: // Course (VTG)
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