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AP_GPS: fixed date handling in NMEA driver

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This commit is contained in:
Andrew Tridgell 2013-10-24 11:10:32 +11:00
parent 65ebdfa786
commit de96ad9445
2 changed files with 14 additions and 10 deletions
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18
libraries/AP_GPS/AP_GPS_NMEA.cpp
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@ -38,6 +38,8 @@
#include "AP_GPS_NMEA.h" #include "AP_GPS_NMEA.h"
extern const AP_HAL::HAL& hal;
// SiRF init messages ////////////////////////////////////////////////////////// // SiRF init messages //////////////////////////////////////////////////////////
// //
// Note that we will only see a SiRF in NMEA mode if we are explicitly configured // Note that we will only see a SiRF in NMEA mode if we are explicitly configured
@ -173,7 +175,7 @@ int16_t AP_GPS_NMEA::_from_hex(char a)
return a - '0'; return a - '0';
} }
uint32_t AP_GPS_NMEA::_parse_decimal() uint32_t AP_GPS_NMEA::_parse_decimal_100()
{ {
char *p = _term; char *p = _term;
uint32_t ret = 100UL * atol(p); uint32_t ret = 100UL * atol(p);
@ -190,7 +192,7 @@ uint32_t AP_GPS_NMEA::_parse_decimal()
} }
/* /*
parse a NMEA latitude/longitude degree value. The result is in degrees*10e7 parse a NMEA latitude/longitude degree value. The result is in degrees*1e7
*/ */
uint32_t AP_GPS_NMEA::_parse_degrees() uint32_t AP_GPS_NMEA::_parse_degrees()
{ {
@ -250,6 +252,8 @@ bool AP_GPS_NMEA::_term_complete()
longitude = _new_longitude; longitude = _new_longitude;
ground_speed_cm = _new_speed; ground_speed_cm = _new_speed;
ground_course_cd = _new_course; ground_course_cd = _new_course;
_make_gps_time(_new_date, _new_time * 10);
_last_gps_time = hal.scheduler->millis();
fix = GPS::FIX_3D; // To-Do: add support for proper reporting of 2D and 3D fix fix = GPS::FIX_3D; // To-Do: add support for proper reporting of 2D and 3D fix
break; break;
case _GPS_SENTENCE_GPGGA: case _GPS_SENTENCE_GPGGA:
@ -318,14 +322,14 @@ bool AP_GPS_NMEA::_term_complete()
_new_satellite_count = atol(_term); _new_satellite_count = atol(_term);
break; break;
case _GPS_SENTENCE_GPGGA + 8: // HDOP (GGA) case _GPS_SENTENCE_GPGGA + 8: // HDOP (GGA)
_new_hdop = _parse_decimal(); _new_hdop = _parse_decimal_100();
break; break;
// time and date // time and date
// //
case _GPS_SENTENCE_GPRMC + 1: // Time (RMC) case _GPS_SENTENCE_GPRMC + 1: // Time (RMC)
case _GPS_SENTENCE_GPGGA + 1: // Time (GGA) case _GPS_SENTENCE_GPGGA + 1: // Time (GGA)
_new_time = _parse_decimal(); _new_time = _parse_decimal_100();
break; break;
case _GPS_SENTENCE_GPRMC + 9: // Date (GPRMC) case _GPS_SENTENCE_GPRMC + 9: // Date (GPRMC)
_new_date = atol(_term); _new_date = atol(_term);
@ -352,18 +356,18 @@ bool AP_GPS_NMEA::_term_complete()
_new_longitude = -_new_longitude; _new_longitude = -_new_longitude;
break; break;
case _GPS_SENTENCE_GPGGA + 9: // Altitude (GPGGA) case _GPS_SENTENCE_GPGGA + 9: // Altitude (GPGGA)
_new_altitude = _parse_decimal(); _new_altitude = _parse_decimal_100();
break; break;
// course and speed // course and speed
// //
case _GPS_SENTENCE_GPRMC + 7: // Speed (GPRMC) case _GPS_SENTENCE_GPRMC + 7: // Speed (GPRMC)
case _GPS_SENTENCE_GPVTG + 5: // Speed (VTG) case _GPS_SENTENCE_GPVTG + 5: // Speed (VTG)
_new_speed = (_parse_decimal() * 514) / 1000; // knots-> m/sec, approximiates * 0.514 _new_speed = (_parse_decimal_100() * 514) / 1000; // knots-> m/sec, approximiates * 0.514
break; break;
case _GPS_SENTENCE_GPRMC + 8: // Course (GPRMC) case _GPS_SENTENCE_GPRMC + 8: // Course (GPRMC)
case _GPS_SENTENCE_GPVTG + 1: // Course (VTG) case _GPS_SENTENCE_GPVTG + 1: // Course (VTG)
_new_course = _parse_decimal(); _new_course = _parse_decimal_100();
break; break;
} }
} }

6
libraries/AP_GPS/AP_GPS_NMEA.h
View File

@ -110,15 +110,15 @@ private:
/// @returns The value expressed by the string in _term, /// @returns The value expressed by the string in _term,
/// multiplied by 100. /// multiplied by 100.
/// ///
uint32_t _parse_decimal(); uint32_t _parse_decimal_100();
/// Parses the current term as a NMEA-style degrees + minutes /// Parses the current term as a NMEA-style degrees + minutes
/// value with up to four decimal digits. /// value with up to four decimal digits.
/// ///
/// This gives a theoretical resolution limit of around 18cm. /// This gives a theoretical resolution limit of around 1cm.
/// ///
/// @returns The value expressed by the string in _term, /// @returns The value expressed by the string in _term,
/// multiplied by 10000. /// multiplied by 1e7.
/// ///
uint32_t _parse_degrees(); uint32_t _parse_degrees();