Added support for the GSA sentence

Adafruit_GPS.cpp

@@ -204,6 +204,136 @@ boolean Adafruit_GPS::parse(char *nmea) {
     return true;
   }
 
+  if (strStartsWith(nmea, "$GPRMC") || strStartsWith(nmea, "$GNRMC")) {
+  // found RMC
+  // get time
+  p = strchr(p, ',')+1;
+  parseTime(p);
+
+  // fix or no fix
+  p = strchr(p, ',')+1;
+  if(!parseFix(p)) return false;
+
+  // parse out latitude
+  p = strchr(p, ',')+1;
+  parseLat(p);
+  p = strchr(p, ',')+1;
+  if(!parseLatDir(p)) return false;
+
+  // parse out longitude
+  p = strchr(p, ',')+1;
+  parseLon(p);
+  p = strchr(p, ',')+1;
+  if(!parseLonDir(p)) return false;
+
+  // speed
+  p = strchr(p, ',')+1;
+  if (',' != *p)
+  {
+    speed = atof(p);
+  }
+
+  // angle
+  p = strchr(p, ',')+1;
+  if (',' != *p)
+  {
+    angle = atof(p);
+  }
+
+  p = strchr(p, ',')+1;
+  if (',' != *p)
+  {
+    uint32_t fulldate = atof(p);
+    day = fulldate / 10000;
+    month = (fulldate % 10000) / 100;
+    year = (fulldate % 100);
+    lastDate = sentTime;
+  }
+  return true;
+}
+
+if (strStartsWith(nmea, "$GPGLL") || strStartsWith(nmea, "$GNGLL")) {
+  // found GLL
+  // parse out latitude
+  p = strchr(p, ',')+1;
+  parseLat(p);
+  p = strchr(p, ',')+1;
+  if(!parseLatDir(p)) return false;
+
+  // parse out longitude
+  p = strchr(p, ',')+1;
+  parseLon(p);
+  p = strchr(p, ',')+1;
+  if(!parseLonDir(p)) return false;
+
+  // get time
+  p = strchr(p, ',')+1;
+  parseTime(p);
+
+  // fix or no fix
+  p = strchr(p, ',')+1;
+  if(!parseFix(p)) return false;
+
+  return true;
+}
+
+if (strStartsWith(nmea, "$GPGSA")) {
+  // found GSA
+  // parse out Auto selection, but ignore them
+  p = strchr(p, ',')+1;
+  // parse out 3d fixquality
+  p = strchr(p, ',')+1;
+  if (',' != *p)
+  {
+    fixquality_3d = atoi(p);
+  }
+  // parse out Satellite PDNs, but ignore them
+  p = strchr(p, ',')+1;
+
+  p = strchr(p, ',')+1;
+
+  p = strchr(p, ',')+1;
+
+  p = strchr(p, ',')+1;
+
+  p = strchr(p, ',')+1;
+
+  p = strchr(p, ',')+1;
+
+  p = strchr(p, ',')+1;
+
+  p = strchr(p, ',')+1;
+
+  p = strchr(p, ',')+1;
+
+  p = strchr(p, ',')+1;
+
+  p = strchr(p, ',')+1;
+
+  p = strchr(p, ',')+1;
+
+  //parse out PDOP
+  p = strchr(p, ',')+1;
+  if (',' != *p)
+  {
+    PDOP = atof(p);
+  }
+  // parse out HDOP, we also parse this from the GGA sentence. Chipset should report the same for both
+  p = strchr(p, ',')+1;
+  if (',' != *p)
+  {
+    HDOP = atof(p);
+  }
+  // parse out VDOP
+  p = strchr(p, ',')+1;
+  if (',' != *p)
+  {
+    VDOP = atof(p);
+  }
+  return true;
+}
+
+
   // we dont parse the remaining, yet!
   return false;
 }
@@ -573,12 +703,12 @@ void Adafruit_GPS::common_init(void) {
   lastline    = line2;
 
   hour = minute = seconds = year = month = day =
-    fixquality = satellites = 0; // uint8_t
+    fixquality = fixquality_3d = satellites = 0; // uint8_t
   lat = lon = mag = 0; // char
   fix = false; // boolean
   milliseconds = 0; // uint16_t
   latitude = longitude = geoidheight = altitude =
-    speed = angle = magvariation = HDOP = 0.0; // float
+    speed = angle = magvariation = HDOP = VDOP = PDOP = 0.0; // float
 }
 
 /**************************************************************************/

Adafruit_GPS.h

@@ -66,6 +66,7 @@
 #define PMTK_SET_NMEA_OUTPUT_GSAONLY "$PMTK314,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29"  ///< turn on just the GPGSA
 #define PMTK_SET_NMEA_OUTPUT_GSVONLY "$PMTK314,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0*29"  ///< turn on just the GPGSV
 #define PMTK_SET_NMEA_OUTPUT_RMCGGA  "$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28"  ///< turn on GPRMC and GPGGA
+#define PMTK_SET_NMEA_OUTPUT_RMCGGAGSA  "$PMTK314,0,1,0,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29"  ///< turn on GPRMC, GPGGA and GPGSA
 #define PMTK_SET_NMEA_OUTPUT_ALLDATA "$PMTK314,1,1,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0*28"  ///< turn on ALL THE DATA
 #define PMTK_SET_NMEA_OUTPUT_OFF     "$PMTK314,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28"  ///< turn off output
 
@@ -159,11 +160,14 @@ class Adafruit_GPS : public Print{
   float angle;              ///< Course in degrees from true north
   float magvariation;       ///< Magnetic variation in degrees (vs. true north)
   float HDOP;               ///< Horizontal Dilution of Precision - relative accuracy of horizontal position
+  float VDOP;               ///< Vertical Dilution of Precision - relative accuracy of vertical position
+  float PDOP;               ///< Position Dilution of Precision - Complex maths derives a simple, single number for each kind of DOP
   char lat;                 ///< N/S
   char lon;                 ///< E/W
   char mag;                 ///< Magnetic variation direction
   boolean fix;              ///< Have a fix?
   uint8_t fixquality;       ///< Fix quality (0, 1, 2 = Invalid, GPS, DGPS)
+  uint8_t fixquality_3d;    ///< 3D fix quality (1, 3, 3 = Nofix, 2D fix, 3D fix)
   uint8_t satellites;       ///< Number of satellites in use
 
   boolean waitForSentence(const char *wait, uint8_t max = MAXWAITSENTENCE, boolean usingInterrupts = false);