Cansat
/
esp32_Adafruit_GPS
2
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

fix to parsing bug on RMB sentence

This commit is contained in:
Rick Sellens 2020-02-07 14:54:26 -05:00
parent a047465a73
commit 8c550d278e
1 changed files with 18 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

24
src/NMEA_parse.cpp
View File

@ -319,6 +319,21 @@ bool Adafruit_GPS::parse(char *nmea) {
} else if (!strcmp(thisSentence, "RMB")) { //*****************************RMB
// from Actisense NGW-1 from SH CP150C
// RMB Recommended Minimum Navigation Information
// 1 2 3 4 5 6 7 8 9 10 11 12 13 14
// | | | | | | | | | | | | | |
//$--RMB,A,x.x,a,c--c,c--c,llll.ll,a,yyyyy.yy,a,x.x,x.x,x.x,A*hh
// 1) Status, V = Navigation receiver warning
// 2) Cross Track error - nautical miles
// 3) Direction to Steer, Left or Right
// 4) TO Waypoint ID
// 5) FROM Waypoint ID
// 6) Destination Waypoint Latitude 7) N or S
// 8) Destination Waypoint Longitude 9) E or W
// 10) Range to destination in nautical miles
// 11) Bearing to destination in degrees True
// 12) Destination closing velocity in knots
// 13) Arrival Status, A = Arrival Circle Entered 14) Checksum
p = strchr(p, ',') + 1; // skip status
nmea_float_t xte = 100000.;
char xteDir = 'X';
@ -339,15 +354,14 @@ bool Adafruit_GPS::parse(char *nmea) {
if (!isEmpty(p))
parseStr(fromID, p, NMEA_MAX_WP_ID);
p = strchr(p, ',') + 1;
nmea_float_t latitudeWP =
0; // All the same position data for the next way point
nmea_float_t latitudeWP = 0;
nmea_float_t longitudeWP = 0;
int32_t latitude_fixedWP = 0;
int32_t longitude_fixedWP = 0;
nmea_float_t latitudeDegreesWP = 0;
nmea_float_t longitudeDegreesWP = 0;
char latWP = 'N';
char lonWP = 'W';
char latWP = 'X';
char lonWP = 'X';
// parse out both latitude and direction for WayPoint, then go to next
// field, or fail
@ -371,8 +385,6 @@ bool Adafruit_GPS::parse(char *nmea) {
}
p = strchr(p, ',') + 1;
p = strchr(p, ',') + 1;
p = strchr(p, ',') + 1;
p = strchr(p, ',') + 1;
if (!isEmpty(p))
newDataValue(NMEA_DISTWP, atof(p));
p = strchr(p, ',') + 1;