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Fix NMEA GPS error

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3227 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
hazyhxj@gmail.com 2011-09-04 05:14:42 +00:00
parent 86bc84c259
commit 2cbb662e1f
2 changed files with 28 additions and 30 deletions
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50
libraries/AP_GPS/AP_GPS_NMEA.cpp
View File

@ -267,7 +267,7 @@ bool AP_GPS_NMEA::_term_complete()
hdop = _new_hdop;
fix = true;
break;
case _GPS_SENTENCE_VTG:
case _GPS_SENTENCE_GPVTG:
ground_speed = _new_speed;
ground_course = _new_course;
// VTG has no fix indicator, can't change fix status
@ -296,7 +296,7 @@ bool AP_GPS_NMEA::_term_complete()
} else if (!strcmp_P(_term, _gpgga_string)) {
_sentence_type = _GPS_SENTENCE_GPGGA;
} else if (!strcmp_P(_term, _gpvtg_string)) {
_sentence_type = _GPS_SENTENCE_VTG;
_sentence_type = _GPS_SENTENCE_GPVTG;
// VTG may not contain a data qualifier, presume the solution is good
// unless it tells us otherwise.
_gps_data_good = true;
@ -306,71 +306,69 @@ bool AP_GPS_NMEA::_term_complete()
return false;
}
// 10 = RMC, 20 = GGA, 30 = VTG
// 32 = RMC, 64 = GGA, 96 = VTG
if (_sentence_type != _GPS_SENTENCE_OTHER && _term[0]) {
switch (_sentence_type + _term_number) {
// operational status
//
case 12: // validity (RMC)
case _GPS_SENTENCE_GPRMC + 2: // validity (RMC)
_gps_data_good = _term[0] == 'A';
break;
case 26: // Fix data (GGA)
case _GPS_SENTENCE_GPGGA + 6: // Fix data (GGA)
_gps_data_good = _term[0] > '0';
break;
case 39: // validity (VTG) (we may not see this field)
case _GPS_SENTENCE_GPVTG + 9: // validity (VTG) (we may not see this field)
_gps_data_good = _term[0] != 'N';
break;
case 27: // satellite count (GGA)
case _GPS_SENTENCE_GPGGA + 7: // satellite count (GGA)
_new_satellite_count = atol(_term);
break;
case 28: // HDOP (GGA)
case _GPS_SENTENCE_GPGGA + 8: // HDOP (GGA)
_new_hdop = _parse_decimal();
break;
// time and date
//
case 11: // Time (RMC)
case 21: // Time (GGA)
case _GPS_SENTENCE_GPRMC + 1: // Time (RMC)
case _GPS_SENTENCE_GPGGA + 1: // Time (GGA)
_new_time = _parse_decimal();
break;
case 19: // Date (GPRMC)
case _GPS_SENTENCE_GPRMC + 9: // Date (GPRMC)
_new_date = atol(_term);
break;
// location
//
case 13: // Latitude
case 22:
case _GPS_SENTENCE_GPRMC + 3: // Latitude
case _GPS_SENTENCE_GPGGA + 2:
_new_latitude = _parse_degrees();
break;
case 14: // N/S
case 23:
case _GPS_SENTENCE_GPRMC + 4: // N/S
case _GPS_SENTENCE_GPGGA + 3:
if (_term[0] == 'S')
_new_latitude = -_new_latitude;
break;
case 15: // Longitude
case 24:
case _GPS_SENTENCE_GPRMC + 5: // Longitude
case _GPS_SENTENCE_GPGGA + 4:
_new_longitude = _parse_degrees();
break;
case 16: // E/W
case 25:
case _GPS_SENTENCE_GPRMC + 6: // E/W
case _GPS_SENTENCE_GPGGA + 5:
if (_term[0] == 'W')
_new_longitude = -_new_longitude;
break;
case 29: // Altitude (GPGGA)
case _GPS_SENTENCE_GPGGA + 9: // Altitude (GPGGA)
_new_altitude = _parse_decimal();
break;
// course and speed
//
case 17: // Speed (GPRMC)
case _GPS_SENTENCE_GPRMC + 7: // Speed (GPRMC)
case _GPS_SENTENCE_GPVTG + 5: // Speed (VTG)
_new_speed = (_parse_decimal() * 514) / 1000; // knots-> m/sec, approximiates * 0.514
break;
case 37: // Speed (VTG)
_new_speed = _parse_decimal();
break;
case 18: // Course (GPRMC)
case 31: // Course (VTG)
case _GPS_SENTENCE_GPRMC + 8: // Course (GPRMC)
case _GPS_SENTENCE_GPVTG + 1: // Course (VTG)
_new_course = _parse_decimal();
break;
}

8
libraries/AP_GPS/AP_GPS_NMEA.h
View File

@ -68,10 +68,10 @@ public:
private:
/// Coding for the GPS sentences that the parser handles
enum _sentence_types {
_GPS_SENTENCE_GPRMC = 10,
_GPS_SENTENCE_GPGGA = 20,
_GPS_SENTENCE_VTG = 30,
enum _sentence_types { //there are some more than 10 fields in some sentences , thus we have to increase these value.
_GPS_SENTENCE_GPRMC = 32,
_GPS_SENTENCE_GPGGA = 64,
_GPS_SENTENCE_GPVTG = 96,
_GPS_SENTENCE_OTHER = 0
};