void
WesterboerVW921Device::SentenceOne(const void *_data, size_t length,
struct NMEAInfo &info)
{
const uint8_t *data = (const uint8_t *)_data;
// Sentence one exists in multiple versions based on firmware version
if (length == 31) {
// According to test device
fixed wing_loading = fixed(ReadFloat(data + 13));
info.settings.ProvideWingLoading(wing_loading, info.clock);
uint8_t polar_type = *(data + 30);
if (polar_type == 0)
info.settings.ProvideBugs(fixed_one, info.clock);
else if (polar_type == 1)
info.settings.ProvideBugs(fixed(0.85), info.clock);
else if (polar_type == 2)
info.settings.ProvideBugs(fixed(0.95), info.clock);
} else if (length == 26) {
// According to version 3.30 documentation
int16_t wing_loading =
ReadUnalignedLE16((const uint16_t *)(const void *)(data + 11));
info.settings.ProvideWingLoading(fixed(wing_loading) / 10, info.clock);
uint8_t polar_type = *(data + 13);
if (polar_type == 0)
info.settings.ProvideBugs(fixed_one, info.clock);
else if (polar_type == 1)
info.settings.ProvideBugs(fixed(0.95), info.clock);
else if (polar_type == 2)
info.settings.ProvideBugs(fixed(0.85), info.clock);
}
}
uint16_t GetSequenceNumber() const {
return ReadUnalignedLE16(&sequence_number);
}
void
WesterboerVW921Device::SentenceZero(const void *_data, size_t length,
struct NMEAInfo &info)
{
const uint8_t *data = (const uint8_t *)_data;
/*
Received sentence #0 with length = 45
24 77 2d 3c 00 10 82 07 c8 6c 28 00 00 bd ff 46
00 04 02 00 00 46 00 00 00 12 00 01 00 00 00 00
00 3f 0b 80 62 d5 b1 7d 5a 0d cd a6 ff
*/
// 0 - 4 Header
// 24 77 2d 3c 00
// 5 Byte Flight status (Bitmask)
// 6 Byte Flight status 2 (Bitmask)
// Bit 7 : External Switch (1=Climbing, 0=Cruise)
uint8_t flight_status2 = *(data + 6);
if ((flight_status2 & (1 << 7)) == 0) {
info.switch_state.flight_mode = SwitchInfo::FlightMode::CRUISE;
info.switch_state.speed_command = true;
} else {
info.switch_state.flight_mode = SwitchInfo::FlightMode::CIRCLING;
info.switch_state.speed_command = false;
}
info.switch_state_available = true;
// 7 Byte GPS status (Bitmask)
// Bit 3: GPS-Status-Flag ("A"-valid position/"V"- NAV receiver warning)
// 8 Byte GPS status 2 (Bitmask)
// 9 Word Flight time (sec)
// 11 Word Distance to next target (0.1 km)
// 6c 28 00 00
// 13 Int STD altitude (m)
// 15 Int QFE-Höhe h (m)
// b8 ff 00 00
int16_t std_altitude =
ReadUnalignedLE16((const uint16_t *)(const void *)(data + 13));
info.ProvidePressureAltitude(fixed(std_altitude));
// 17 Int Windempfehlung (km/ h)
// 19 Int delta speed (km/ h)
// 21 Int Gleitpath deviation (m)
// 00 00 00 00 00 00
// 23 Int avg. Vario (0,1 m/s)
// 25 Int Nettovario (0,1 m/s)
// 27 Int Vario (0,1 m/s)
// 00 00 11 00 f7 ff
int16_t netto_vario =
ReadUnalignedLE16((const uint16_t *)(const void *)(data + 25));
info.ProvideNettoVario(fixed(netto_vario) / 10);
int16_t vario =
ReadUnalignedLE16((const uint16_t *)(const void *)(data + 27));
info.ProvideTotalEnergyVario(fixed(vario) / 10);
// 29 Int True Air Speed TAS (0,1 m/s)
// 31 Int Groundspeed GS (0,1 m/s)
// 00 00 e6 00
int16_t tas =
ReadUnalignedLE16((const uint16_t *)(const void *)(data + 29));
info.ProvideTrueAirspeed(fixed(tas) / 10);
int16_t ground_speed =
ReadUnalignedLE16((const uint16_t *)(const void *)(data + 31));
info.ground_speed = fixed(ground_speed) / 10;
info.ground_speed_available.Update(info.clock);
// Next 12 bytes are zero if GPS connection is bad:
// 33 Int Track (0.1 deg)
// eb 03
// 35 Float Latitude (arc, -pi/2 .. +pi/2)
// 80 62 d6 ce = N504606
// 39 Float Longitude (arc, -pi .. +pi)
// 7d 59 e4 01 = E 60601
// 43 Int DiffAngle (0.1 deg)
// 62 fd
uint8_t gps_status = *(data + 7);
if ((gps_status & (1 << 3)) != 0) {
// GPS has a valid fix
int16_t track =
ReadUnalignedLE16((const uint16_t *)(const void *)(data + 31));
info.track = Angle::Degrees(fixed(track) / 10);
info.track_available.Update(info.clock);
info.location.latitude = Angle::Radians(fixed(ReadFloat(data + 35)));
info.location.longitude = Angle::Radians(fixed(ReadFloat(data + 39)));
info.location_available.Update(info.clock);
}
}
