diff options
Diffstat (limited to 'utils/loc_nmea.cpp')
| -rw-r--r-- | utils/loc_nmea.cpp | 147 |
1 files changed, 106 insertions, 41 deletions
diff --git a/utils/loc_nmea.cpp b/utils/loc_nmea.cpp index abcf5b7..12f6ca6 100644 --- a/utils/loc_nmea.cpp +++ b/utils/loc_nmea.cpp @@ -880,7 +880,7 @@ static void loc_nmea_generate_DTM(const LocLla &ref_lla, } /*=========================================================================== -FUNCTION getUtcTimeWithLeapSecondTransition +FUNCTION get_utctime_with_leapsecond_transition DESCRIPTION This function returns true if the position report is generated during @@ -900,10 +900,12 @@ SIDE EFFECTS N/A ===========================================================================*/ -bool getUtcTimeWithLeapSecondTransition(const UlpLocation &location, - const GpsLocationExtended &locationExtended, - const LocationSystemInfo &systemInfo, - LocGpsUtcTime &utcPosTimestamp) { +static bool get_utctime_with_leapsecond_transition( + const UlpLocation &location, + const GpsLocationExtended &locationExtended, + const LocationSystemInfo &systemInfo, + LocGpsUtcTime &utcPosTimestamp) +{ bool inTransition = false; // position report is not generated during leap second transition, @@ -953,6 +955,94 @@ bool getUtcTimeWithLeapSecondTransition(const UlpLocation &location, } /*=========================================================================== +FUNCTION loc_nmea_get_fix_quality + +DESCRIPTION + This function obtains the fix quality for GGA sentence, mode indicator + for RMC and VTG sentence based on nav solution mask and tech mask in + the postion report. + +DEPENDENCIES + NONE + +Output parameter + ggaGpsQuality: gps quality field in GGA sentence + rmcModeIndicator: mode indicator field in RMC sentence + vtgModeIndicator: mode indicator field in VTG sentence + +SIDE EFFECTS + N/A + +===========================================================================*/ +static void loc_nmea_get_fix_quality(const UlpLocation & location, + const GpsLocationExtended & locationExtended, + char & ggaGpsQuality, + char & rmcModeIndicator, + char & vtgModeIndicator) { + + ggaGpsQuality = '0'; + rmcModeIndicator = 'N'; + vtgModeIndicator = 'N'; + + do { + if (!(location.gpsLocation.flags & LOC_GPS_LOCATION_HAS_LAT_LONG)){ + ggaGpsQuality = '0'; // 0 means no fix + rmcModeIndicator = 'N'; + vtgModeIndicator = 'N'; + break; + } + // NOTE: Order of the check is important + if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_NAV_SOLUTION_MASK) { + if (LOC_NAV_MASK_PPP_CORRECTION & locationExtended.navSolutionMask) { + ggaGpsQuality = '2'; // 2 means DGPS fix + rmcModeIndicator = 'P'; // P means precise + vtgModeIndicator = 'P'; // P means precise + break; + } else if (LOC_NAV_MASK_RTK_FIXED_CORRECTION & locationExtended.navSolutionMask){ + ggaGpsQuality = '4'; // 4 means RTK Fixed fix + rmcModeIndicator = 'R'; // use R (RTK fixed) + vtgModeIndicator = 'D'; // use D (differential) as + // no RTK fixed defined for VTG in NMEA 183 spec + break; + } else if (LOC_NAV_MASK_RTK_CORRECTION & locationExtended.navSolutionMask){ + ggaGpsQuality = '5'; // 5 means RTK float fix + rmcModeIndicator = 'F'; // F means RTK float fix + vtgModeIndicator = 'D'; // use D (differential) as + // no RTK float defined for VTG in NMEA 183 spec + break; + } else if (LOC_NAV_MASK_DGNSS_CORRECTION & locationExtended.navSolutionMask){ + ggaGpsQuality = '2'; // 2 means DGPS fix + rmcModeIndicator = 'D'; // D means differential + vtgModeIndicator = 'D'; // D means differential + break; + } else if (LOC_NAV_MASK_SBAS_CORRECTION_IONO & locationExtended.navSolutionMask){ + ggaGpsQuality = '2'; // 2 means DGPS fix + rmcModeIndicator = 'D'; // D means differential + vtgModeIndicator = 'D'; // D means differential + break; + } + } + // NOTE: Order of the check is important + if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_POS_TECH_MASK) { + if (LOC_POS_TECH_MASK_SATELLITE & locationExtended.tech_mask){ + ggaGpsQuality = '1'; // 1 means GPS + rmcModeIndicator = 'A'; // A means autonomous + vtgModeIndicator = 'A'; // A means autonomous + break; + } else if (LOC_POS_TECH_MASK_SENSORS & locationExtended.tech_mask){ + ggaGpsQuality = '6'; // 6 means estimated (dead reckoning) + rmcModeIndicator = 'E'; // E means estimated (dead reckoning) + vtgModeIndicator = 'E'; // E means estimated (dead reckoning) + break; + } + } + } while (0); + + LOC_LOGv("gps quality: %c, rmc mode indicator: %c, vtg mode indicator: %c", + ggaGpsQuality, rmcModeIndicator, vtgModeIndicator); +} + +/*=========================================================================== FUNCTION loc_nmea_generate_pos DESCRIPTION @@ -987,7 +1077,7 @@ void loc_nmea_generate_pos(const UlpLocation &location, LocGpsUtcTime utcPosTimestamp = 0; bool inLsTransition = false; - inLsTransition = getUtcTimeWithLeapSecondTransition + inLsTransition = get_utctime_with_leapsecond_transition (location, locationExtended, systemInfo, utcPosTimestamp); time_t utcTime(utcPosTimestamp/1000); @@ -1120,6 +1210,12 @@ void loc_nmea_generate_pos(const UlpLocation &location, talker[1] = sv_meta.talker[1]; } + char ggaGpsQuality = '0'; + char rmcModeIndicator = 'N'; + char vtgModeIndicator = 'N'; + loc_nmea_get_fix_quality(location, locationExtended, + ggaGpsQuality, rmcModeIndicator, vtgModeIndicator); + // ------------------- // ------$--VTG------- // ------------------- @@ -1174,17 +1270,7 @@ void loc_nmea_generate_pos(const UlpLocation &location, pMarker += length; lengthRemaining -= length; - if (!(location.gpsLocation.flags & LOC_GPS_LOCATION_HAS_LAT_LONG)) - // N means no fix - length = snprintf(pMarker, lengthRemaining, "%c", 'N'); - else if (LOC_NAV_MASK_SBAS_CORRECTION_IONO & locationExtended.navSolutionMask) - // D means differential - length = snprintf(pMarker, lengthRemaining, "%c", 'D'); - else if (LOC_POS_TECH_MASK_SENSORS == locationExtended.tech_mask) - // E means estimated (dead reckoning) - length = snprintf(pMarker, lengthRemaining, "%c", 'E'); - else // A means autonomous - length = snprintf(pMarker, lengthRemaining, "%c", 'A'); + length = snprintf(pMarker, lengthRemaining, "%c", vtgModeIndicator); length = loc_nmea_put_checksum(sentence, sizeof(sentence)); nmeaArraystr.push_back(sentence); @@ -1372,18 +1458,7 @@ void loc_nmea_generate_pos(const UlpLocation &location, pMarker += length; lengthRemaining -= length; - if (!(location.gpsLocation.flags & LOC_GPS_LOCATION_HAS_LAT_LONG)) - // N means no fix - length = snprintf(pMarker, lengthRemaining, "%c", 'N'); - else if (LOC_NAV_MASK_SBAS_CORRECTION_IONO & locationExtended.navSolutionMask) - // D means differential - length = snprintf(pMarker, lengthRemaining, "%c", 'D'); - else if (LOC_POS_TECH_MASK_SENSORS == locationExtended.tech_mask) - // E means estimated (dead reckoning) - length = snprintf(pMarker, lengthRemaining, "%c", 'E'); - else // A means autonomous - length = snprintf(pMarker, lengthRemaining, "%c", 'A'); - + length = snprintf(pMarker, lengthRemaining, "%c", rmcModeIndicator); pMarker += length; lengthRemaining -= length; @@ -1600,28 +1675,18 @@ void loc_nmea_generate_pos(const UlpLocation &location, pMarker += length; lengthRemaining -= length; - char gpsQuality; - if (!(location.gpsLocation.flags & LOC_GPS_LOCATION_HAS_LAT_LONG)) - gpsQuality = '0'; // 0 means no fix - else if (LOC_NAV_MASK_SBAS_CORRECTION_IONO & locationExtended.navSolutionMask) - gpsQuality = '2'; // 2 means DGPS fix - else if (LOC_POS_TECH_MASK_SENSORS == locationExtended.tech_mask) - gpsQuality = '6'; // 6 means estimated (dead reckoning) - else - gpsQuality = '1'; // 1 means GPS fix - // Number of satellites in use, 00-12 if (svUsedCount > MAX_SATELLITES_IN_USE) svUsedCount = MAX_SATELLITES_IN_USE; if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_DOP) { length = snprintf(pMarker, lengthRemaining, "%c,%02d,%.1f,", - gpsQuality, svUsedCount, locationExtended.hdop); + ggaGpsQuality, svUsedCount, locationExtended.hdop); } else { // no hdop length = snprintf(pMarker, lengthRemaining, "%c,%02d,,", - gpsQuality, svUsedCount); + ggaGpsQuality, svUsedCount); } if (length < 0 || length >= lengthRemaining) |