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added gps for altitude estimation, remove most unused code, rename altitude.c to position.c, add hdop to nmea

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This commit is contained in:
Diego Basch 2018-04-24 11:11:35 -07:00
parent 75f82c7f2b
commit c46be03047
26 changed files with 154 additions and 550 deletions
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7
src/main/io/gps.c
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@ -636,6 +636,7 @@ typedef struct gpsDataNmea_s {
uint8_t numSat;
uint16_t altitude;
uint16_t speed;
uint16_t hdop;
uint16_t ground_course;
uint32_t time;
uint32_t date;
@ -700,6 +701,9 @@ static bool gpsNewFrameNMEA(char c)
case 7:
gps_Msg.numSat = grab_fields(string, 0);
break;
case 8:
gps_Msg.hdop = grab_fields(string, 1) * 100; // hdop
break;
case 9:
gps_Msg.altitude = grab_fields(string, 0); // altitude in meters added by Mis
break;
@ -793,6 +797,7 @@ static bool gpsNewFrameNMEA(char c)
gpsSol.llh.lon = gps_Msg.longitude;
gpsSol.numSat = gps_Msg.numSat;
gpsSol.llh.alt = gps_Msg.altitude;
gpsSol.hdop = gps_Msg.hdop;
}
break;
case FRAME_RMC:
@ -1015,7 +1020,7 @@ static bool UBLOX_parse_gps(void)
//i2c_dataset.time = _buffer.posllh.time;
gpsSol.llh.lon = _buffer.posllh.longitude;
gpsSol.llh.lat = _buffer.posllh.latitude;
gpsSol.llh.alt = _buffer.posllh.altitude_msl / 10 / 100; //alt in m
gpsSol.llh.alt = _buffer.posllh.altitude_msl / 10; //alt in cm
if (next_fix) {
ENABLE_STATE(GPS_FIX);
} else {