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AP_GPS: parse RTK status in NMEA GGA message

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chobitsfan 2017-09-14 22:59:23 +08:00 committed by Francisco Ferreira
parent 2f8f2ffd2d
commit 02cfe9128d
2 changed files with 28 additions and 4 deletions
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31
libraries/AP_GPS/AP_GPS_NMEA.cpp
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@ -259,8 +259,6 @@ bool AP_GPS_NMEA::_term_complete()
state.ground_course = wrap_360(_new_course*0.01f);
make_gps_time(_new_date, _new_time * 10);
state.last_gps_time_ms = now;
// To-Do: add support for proper reporting of 2D and 3D fix
state.status = AP_GPS::GPS_OK_FIX_3D;
fill_3d_velocity();
break;
case _GPS_SENTENCE_GGA:
@ -270,8 +268,32 @@ bool AP_GPS_NMEA::_term_complete()
state.location.lng = _new_longitude;
state.num_sats = _new_satellite_count;
state.hdop = _new_hdop;
// To-Do: add support for proper reporting of 2D and 3D fix
state.status = AP_GPS::GPS_OK_FIX_3D;
switch(_new_quality_indicator) {
case 0: // Fix not available or invalid
state.status = AP_GPS::NO_FIX;
break;
case 1: // GPS SPS Mode, fix valid
state.status = AP_GPS::GPS_OK_FIX_3D;
break;
case 2: // Differential GPS, SPS Mode, fix valid
state.status = AP_GPS::GPS_OK_FIX_3D_DGPS;
break;
case 3: // GPS PPS Mode, fix valid
state.status = AP_GPS::GPS_OK_FIX_3D;
break;
case 4: // Real Time Kinematic. System used in RTK mode with fixed integers
state.status = AP_GPS::GPS_OK_FIX_3D_RTK_FIXED;
break;
case 5: // Float RTK. Satellite system used in RTK mode, floating integers
state.status = AP_GPS::GPS_OK_FIX_3D_RTK_FLOAT;
break;
case 6: // Estimated (dead reckoning) Mode
state.status = AP_GPS::NO_FIX;
break;
default://to maintain compatibility with MAV_GPS_INPUT and others
state.status = AP_GPS::GPS_OK_FIX_3D;
break;
}
break;
case _GPS_SENTENCE_VTG:
_last_VTG_ms = now;
@ -335,6 +357,7 @@ bool AP_GPS_NMEA::_term_complete()
break;
case _GPS_SENTENCE_GGA + 6: // Fix data (GGA)
_gps_data_good = _term[0] > '0';
_new_quality_indicator = _term[0] - '0';
break;
case _GPS_SENTENCE_VTG + 9: // validity (VTG) (we may not see this field)
_gps_data_good = _term[0] != 'N';

1
libraries/AP_GPS/AP_GPS_NMEA.h
View File

@ -139,6 +139,7 @@ private:
int32_t _new_course; ///< course parsed from a term
uint16_t _new_hdop; ///< HDOP parsed from a term
uint8_t _new_satellite_count; ///< satellite count parsed from a term
uint8_t _new_quality_indicator; ///< GPS quality indicator parsed from a term
uint32_t _last_RMC_ms = 0;
uint32_t _last_GGA_ms = 0;