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GPS - differenciate between timeouts and crc errors. Improve packet
logging. Cleanup UBLOX packet parsing.
This commit is contained in:
Dominic Clifton
parent
34385041ad
commit
20f32d632c
3 changed files with 57 additions and 30 deletions
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@ -302,29 +302,29 @@ void showGpsPage() {
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i2c_OLED_set_line(rowIndex++);
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i2c_OLED_send_string(lineBuffer);
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tfp_sprintf(lineBuffer, "Lat: %d, Lon: %d", GPS_coord[LAT] / GPS_DEGREES_DIVIDER, GPS_coord[LON] / GPS_DEGREES_DIVIDER);
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tfp_sprintf(lineBuffer, "Lat: %d Lon: %d", GPS_coord[LAT] / GPS_DEGREES_DIVIDER, GPS_coord[LON] / GPS_DEGREES_DIVIDER);
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padLineBuffer();
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i2c_OLED_set_line(rowIndex++);
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i2c_OLED_send_string(lineBuffer);
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tfp_sprintf(lineBuffer, "Msg Delta: %d", gpsData.lastMessage - gpsData.lastLastMessage);
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tfp_sprintf(lineBuffer, "Spd: %d cm/s GC: %d", GPS_speed, GPS_ground_course);
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padLineBuffer();
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i2c_OLED_set_line(rowIndex++);
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i2c_OLED_send_string(lineBuffer);
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#ifdef GPS_PH_DEBUG
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tfp_sprintf(lineBuffer, "Angles: P:%d, R:%d", GPS_angle[PITCH], GPS_angle[ROLL]);
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tfp_sprintf(lineBuffer, "Angles: P:%d R:%d", GPS_angle[PITCH], GPS_angle[ROLL]);
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padLineBuffer();
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i2c_OLED_set_line(rowIndex++);
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i2c_OLED_send_string(lineBuffer);
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#endif
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tfp_sprintf(lineBuffer, "%d cm/s, gc: %d", GPS_speed, GPS_ground_course);
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tfp_sprintf(lineBuffer, "RX: %d Delta: %d", GPS_packetCount, gpsData.lastMessage - gpsData.lastLastMessage);
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padLineBuffer();
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i2c_OLED_set_line(rowIndex++);
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i2c_OLED_send_string(lineBuffer);
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tfp_sprintf(lineBuffer, "Errors: %d", gpsData.errors);
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tfp_sprintf(lineBuffer, "ERRs: %d TOs: %d", gpsData.errors, gpsData.timeouts);
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padLineBuffer();
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i2c_OLED_set_line(rowIndex++);
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i2c_OLED_send_string(lineBuffer);
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@ -56,10 +56,13 @@ void updateDisplay(void);
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extern int16_t debug[4];
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#define LOG_NMEA_GGA 'g'
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#define LOG_NMEA_RMC 'r'
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#define LOG_UBLOX_SOL 'O'
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#define LOG_ERROR '?'
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#define LOG_IGNORED '!'
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#define LOG_SKIPPED '>'
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#define LOG_NMEA_GGA 'g'
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#define LOG_NMEA_RMC 'r'
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#define LOG_UBLOX_SOL 'O'
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#define LOG_UBLOX_STATUS 'S'
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#define LOG_UBLOX_SVINFO 'I'
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#define LOG_UBLOX_POSLLH 'P'
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@ -74,6 +77,7 @@ int32_t GPS_coord[2]; // LAT/LON
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uint8_t GPS_numSat;
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uint16_t GPS_hdop = 9999; // Compute GPS quality signal
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uint32_t GPS_packetCount = 0;
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uint8_t GPS_update = 0; // it's a binary toggle to distinct a GPS position update
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uint16_t GPS_altitude; // altitude in 0.1m
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@ -170,6 +174,16 @@ enum {
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gpsData_t gpsData;
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static void shiftPacketLog(void)
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{
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uint32_t i;
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for (i = sizeof(gpsPacketLog) - 1; i > 0 ; i--) {
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gpsPacketLog[i] = gpsPacketLog[i-1];
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}
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}
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static void gpsNewData(uint16_t c);
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static bool gpsNewFrameNMEA(char c);
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static bool gpsNewFrameUBLOX(uint8_t data);
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@ -196,8 +210,8 @@ void gpsInit(serialConfig_t *initialSerialConfig, gpsConfig_t *initialGpsConfig)
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}
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}
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// clear error counter
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gpsData.errors = 0;
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gpsData.timeouts = 0;
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memset(gpsPacketLog, 0x00, sizeof(gpsPacketLog));
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@ -207,7 +221,6 @@ void gpsInit(serialConfig_t *initialSerialConfig, gpsConfig_t *initialGpsConfig)
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gpsSetState(GPS_UNKNOWN);
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gpsData.lastMessage = millis();
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gpsData.errors = 0;
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portMode_t mode = MODE_RXTX;
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// only RX is needed for NMEA-style GPS
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@ -349,7 +362,7 @@ void gpsThread(void)
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break;
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case GPS_LOST_COMMUNICATION:
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gpsData.errors++;
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gpsData.timeouts++;
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if (gpsConfig->autoBaud) {
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// try another rate
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gpsData.baudrateIndex++;
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@ -410,7 +423,7 @@ bool gpsNewFrame(uint8_t c)
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/* This is a light implementation of a GPS frame decoding
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This should work with most of modern GPS devices configured to output NMEA frames.
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This should work with most of modern GPS devices configured to output 5 frames.
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It assumes there are some NMEA GGA frames to decode on the serial bus
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Now verifies checksum correctly before applying data
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@ -582,10 +595,11 @@ static bool gpsNewFrameNMEA(char c)
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case '\r':
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case '\n':
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if (checksum_param) { //parity checksum
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shiftPacketLog();
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uint8_t checksum = 16 * ((string[0] >= 'A') ? string[0] - 'A' + 10 : string[0] - '0') + ((string[1] >= 'A') ? string[1] - 'A' + 10 : string[1] - '0');
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if (checksum == parity) {
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*gpsPacketLogChar = '?';
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*gpsPacketLogChar = LOG_IGNORED;
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GPS_packetCount++;
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switch (gps_frame) {
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case FRAME_GGA:
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*gpsPacketLogChar = LOG_NMEA_GGA;
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@ -603,6 +617,8 @@ static bool gpsNewFrameNMEA(char c)
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GPS_ground_course = gps_Msg.ground_course;
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break;
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} // end switch
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} else {
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*gpsPacketLogChar = LOG_ERROR;
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}
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}
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checksum_param = 0;
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@ -789,10 +805,7 @@ static bool UBLOX_parse_gps(void)
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{
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uint32_t i;
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for (i = sizeof(gpsPacketLog) - 1; i > 0 ; i--) {
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gpsPacketLog[i] = gpsPacketLog[i-1];
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}
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*gpsPacketLogChar = '?';
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*gpsPacketLogChar = LOG_IGNORED;
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switch (_msg_id) {
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case MSG_POSLLH:
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@ -859,16 +872,18 @@ static bool gpsNewFrameUBLOX(uint8_t data)
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bool parsed = false;
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switch (_step) {
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case 1: // Sync char 2 (0x62)
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if (PREAMBLE2 == data) {
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_step++;
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case 0: // Sync char 1 (0xB5)
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if (PREAMBLE1 == data) {
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_skip_packet = false;
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_step++;
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}
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break;
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case 1: // Sync char 2 (0x62)
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if (PREAMBLE2 != data) {
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_step = 0;
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break;
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}
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_step = 0;
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case 0: // Sync char 1 (0xB5)
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if (PREAMBLE1 == data)
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_step++;
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_step++;
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break;
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case 2: // Class
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_step++;
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@ -899,21 +914,32 @@ static bool gpsNewFrameUBLOX(uint8_t data)
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if (_payload_counter < UBLOX_PAYLOAD_SIZE) {
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_buffer.bytes[_payload_counter] = data;
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}
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if (++_payload_counter == _payload_length)
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if (++_payload_counter >= _payload_length) {
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_step++;
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}
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break;
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case 7:
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_step++;
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if (_ck_a != data)
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_step = 0; // bad checksum
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if (_ck_a != data) {
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_skip_packet = true; // bad checksum
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gpsData.errors++;
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}
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break;
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case 8:
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_step = 0;
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shiftPacketLog();
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if (_ck_b != data) {
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*gpsPacketLogChar = LOG_ERROR;
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gpsData.errors++;
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break; // bad checksum
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}
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GPS_packetCount++;
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if (_skip_packet) {
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*gpsPacketLogChar = LOG_SKIPPED;
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break;
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}
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@ -89,7 +89,8 @@ typedef enum {
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typedef struct gpsData_t {
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uint8_t state; // GPS thread state. Used for detecting cable disconnects and configuring attached devices
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uint8_t baudrateIndex; // index into auto-detecting or current baudrate
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int errors; // gps error counter - crc error/lost of data/sync etc. reset on each reinit.
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uint32_t errors; // gps error counter - crc error/lost of data/sync etc..
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uint32_t timeouts;
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uint32_t lastMessage; // last time valid GPS data was received (millis)
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uint32_t lastLastMessage; // last-last valid GPS message. Used to calculate delta.
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@ -107,7 +108,7 @@ extern int32_t GPS_coord[2]; // LAT/LON
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extern uint8_t GPS_numSat;
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extern uint16_t GPS_hdop; // GPS signal quality
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extern uint8_t GPS_update; // it's a binary toogle to distinct a GPS position update
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extern uint32_t GPS_packetCount;
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extern uint16_t GPS_altitude; // altitude in 0.1m
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extern uint16_t GPS_speed; // speed in 0.1m/s
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extern uint16_t GPS_ground_course; // degrees * 10
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