BOOL NMEAParser::GGA(TCHAR *String, TCHAR **params, size_t nparams, NMEA_INFO *pGPS)
{
GGAAvailable = TRUE;
GPSCONNECT = TRUE; // 091208
// this will force gps invalid but will NOT assume gps valid!
nSatellites = (int)(min(16.0, StrToDouble(params[6], NULL)));
if (nSatellites==0) {
gpsValid = false;
}
double ggafix = StrToDouble(params[5],NULL);
if ( ggafix==0 || ggafix>5 ) {
#ifdef DEBUG_GPS
if (ggafix>5) StartupStore(_T("------ GGA DEAD RECKON fix skipped%s"),NEWLINE);
#endif
gpsValid=false;
} else {
gpsValid=true;
}
if (!activeGPS) return TRUE;
pGPS->SatellitesUsed = nSatellites; // 091208
pGPS->NAVWarning = !gpsValid; // 091208
GGAtime=StrToDouble(params[0],NULL);
// Even with invalid fix, we might still have valid time
// I assume that 0 is invalid, and I am very sorry for UTC time 00:00 ( missing a second a midnight).
// is better than risking using 0 as valid, since many gps do not respect any real nmea standard
//
// Update 121215: do not update time with GGA if RMC is found, because at 00UTC only RMC will set the date change!
// Remember that we trigger update of calculations when we get GGA.
// So what happens if the gps sequence is GGA and then RMC?
// 2359UTC:
// GGA , old date, trigger gps calc
// RMC, old date
// 0000UTC:
// GGA, old date even if new date will come for the same quantum,
// GGAtime>0, see (*)
// BANG! oldtime from RMC is 2359, new time from GGA is 0, time is in the past!
//
// If the gps is sending first RMC, this problem does not appear of course.
//
// (*) IMPORTANT> GGAtime at 00UTC will most likely be >0! Because time is in hhmmss.ss .ss is always >0!!
// We check GGAtime, RMCtime, GLLtime etc. for 0 because in case of error the gps will send 000000.000 !!
//
if ( (!RMCAvailable && (GGAtime>0)) || ((GGAtime>0) && (GGAtime == RMCtime)) ) { // RMC already came in same time slot
#if DEBUGSEQ
StartupStore(_T("... GGA update time = %f RMCtime=%f\n"),GGAtime,RMCtime); // 31C
#endif
double ThisTime = TimeModify(GGAtime, pGPS);
if (!TimeHasAdvanced(ThisTime, pGPS)) {
#if DEBUGSEQ
StartupStore(_T(".... GGA time not advanced, skip\n")); // 31C
#endif
return FALSE;
}
}
if (gpsValid) {
double tmplat;
double tmplon;
tmplat = MixedFormatToDegrees(StrToDouble(params[1], NULL));
tmplat = NorthOrSouth(tmplat, params[2][0]);
tmplon = MixedFormatToDegrees(StrToDouble(params[3], NULL));
tmplon = EastOrWest(tmplon,params[4][0]);
if (!((tmplat == 0.0) && (tmplon == 0.0))) {
pGPS->Latitude = tmplat;
pGPS->Longitude = tmplon;
}
else {
#ifdef DEBUG_GPS
StartupStore(_T("++++++ GGA gpsValid with invalid posfix!%s"),NEWLINE);
#endif
gpsValid=false;
}
}
// GGA is marking now triggering end of data, so OK to use baro
// Even with invalid fix we might have valid baro data of course
// any NMEA sentence with time can now trigger gps update: the first to detect new time will make trigger.
// we assume also that any sentence with no time belongs to current time.
// note that if no time from gps, no use of vario and baro data, but also no fix available.. so no problems
if(RMZAvailable)
{
UpdateBaroSource(pGPS, isFlarm? BARO__RMZ_FLARM:BARO__RMZ, NULL, RMZAltitude);
}
else if(RMAAvailable) {
UpdateBaroSource(pGPS, BARO__RMA,NULL, RMAAltitude);
}
// If no gps fix, at this point we trigger refresh and quit
if (!gpsValid) {
#if DEBUGSEQ
StartupStore(_T("........ GGA no gps valid, triggerGPS!\n")); // 31C
#endif
TriggerGPSUpdate();
return FALSE;
}
// "Altitude" should always be GPS Altitude.
pGPS->Altitude = ParseAltitude(params[8], params[9]);
pGPS->Altitude += (GPSAltitudeOffset/1000); // BUGFIX 100429
double GeoidSeparation;
if (_tcslen(params[10])>0) {
// No real need to parse this value,
// but we do assume that no correction is required in this case
GeoidSeparation = ParseAltitude(params[10], params[11]);
} else {
if (UseGeoidSeparation) {
GeoidSeparation = LookupGeoidSeparation(pGPS->Latitude, pGPS->Longitude);
pGPS->Altitude -= GeoidSeparation;
}
}
// if RMC would be Triggering update, we loose the relative altitude, which is coming AFTER rmc!
// This was causing old altitude recorded in new pos fix.
// 120428:
// GGA will trigger gps if there is no RMC,
// or if GGAtime is the same as RMCtime, which means that RMC already came and we are last in the sequence
if ( !RMCAvailable || (GGAtime == RMCtime) ) {
#if DEBUGSEQ
StartupStore(_T("... GGA trigger gps, GGAtime==RMCtime\n")); // 31C
#endif
TriggerGPSUpdate();
}
return TRUE;
} // END GGA
JNIEXPORT void JNICALL
Java_org_xcsoar_InternalGPS_setLocation(JNIEnv *env, jobject obj,
jlong time, jint n_satellites,
jdouble longitude, jdouble latitude,
jboolean hasAltitude, jdouble altitude,
jboolean hasBearing, jdouble bearing,
jboolean hasSpeed, jdouble speed,
jboolean hasAccuracy, jdouble accuracy,
jboolean hasAcceleration, jdouble acceleration)
{
jfieldID fid_index = env->GetFieldID(env->GetObjectClass(obj),
"index", "I");
unsigned index = env->GetIntField(obj, fid_index);
mutexBlackboard.Lock();
NMEA_INFO &basic = device_blackboard.SetRealState(index);
basic.Connected.Update(fixed(MonotonicClockMS()) / 1000);
BrokenDateTime date_time = BrokenDateTime::FromUnixTimeUTC(time / 1000);
fixed second_of_day = fixed(date_time.GetSecondOfDay()) +
/* add the millisecond fraction of the original timestamp for
better accuracy */
fixed((unsigned)(time % 1000)) / 1000u;
if (second_of_day < basic.Time && date_time > basic.DateTime)
/* don't wrap around when going past midnight in UTC */
second_of_day += fixed(24u * 3600u);
basic.Time = second_of_day;
basic.DateTime = date_time;
basic.gps.SatellitesUsed = n_satellites;
basic.gps.real = true;
basic.gps.AndroidInternalGPS = true;
basic.Location = GeoPoint(Angle::degrees(fixed(longitude)),
Angle::degrees(fixed(latitude)));
if (n_satellites > 0)
basic.LocationAvailable.Update(basic.Time);
else
basic.LocationAvailable.Clear();
if (hasAltitude) {
fixed GeoidSeparation = LookupGeoidSeparation(basic.Location);
basic.GPSAltitude = fixed(altitude) - GeoidSeparation;
basic.GPSAltitudeAvailable.Update(basic.Time);
} else
basic.GPSAltitudeAvailable.Clear();
if (hasBearing) {
basic.track = Angle::degrees(fixed(bearing));
basic.track_available.Update(basic.Time);
} else
basic.track_available.Clear();
if (hasSpeed) {
basic.GroundSpeed = fixed(speed);
basic.GroundSpeedAvailable.Update(basic.Time);
}
if (hasAccuracy)
basic.gps.HDOP = fixed(accuracy);
if (hasAcceleration) {
// TODO: use ACCELERATION_STATE::complement() ?!?
basic.acceleration.Available = true;
basic.acceleration.Gload = fixed(acceleration);
}
device_blackboard.Merge();
mutexBlackboard.Unlock();
}
BOOL NMEAParser::GGA(TCHAR *String, TCHAR **params, size_t nparams, NMEA_INFO *GPS_INFO)
{
if (ReplayLogger::IsEnabled()) {
return TRUE;
}
GGAAvailable = TRUE;
GPSCONNECT = TRUE; // 091208
// this will force gps invalid but will NOT assume gps valid!
nSatellites = (int)(min(16.0, StrToDouble(params[6], NULL)));
if (nSatellites==0) {
gpsValid = false;
}
double ggafix = StrToDouble(params[5],NULL);
if ( ggafix==0 || ggafix>5 ) {
#ifdef DEBUG_GPS
if (ggafix>5) StartupStore(_T("------ GGA DEAD RECKON fix skipped%s"),NEWLINE);
#endif
gpsValid=false;
} else {
gpsValid=true;
}
// don't set any GPS_INFO if not activeGPS!!
if (!activeGPS) return TRUE;
GPS_INFO->SatellitesUsed = nSatellites; // 091208
GPS_INFO->NAVWarning = !gpsValid; // 091208
// // GPS_INFO->SatellitesUsed = (int)(min(16,StrToDouble(params[6], NULL))); 091205 091208 moved up
// GPS_INFO->SatellitesUsed = nSatellites; // 091205
double ggatime=StrToDouble(params[0],NULL);
// Even with invalid fix, we might still have valid time
// I assume that 0 is invalid, and I am very sorry for UTC time 00:00 ( missing a second a midnight).
// is better than risking using 0 as valid, since many gps do not respect any real nmea standard
if (ggatime>0) {
#ifdef NEWTRIGGERGPS
double ThisTime = TimeConvert(ggatime, GPS_INFO);
#else
double ThisTime = TimeModify(ggatime, GPS_INFO);
#endif
#ifndef NEWTRIGGERGPS
if (!TimeHasAdvanced(ThisTime, GPS_INFO))
return FALSE;
#endif
#ifdef NEWTRIGGERGPS
// is time advanced to a new quantum?
if (ThisTime >NmeaTime) {
// yes so lets trigger the gps event
TriggerGPSUpdate();
Sleep(50); // 091208
NmeaTime=ThisTime;
TimeSet(GPS_INFO); // 091208
TimeHasAdvanced(ThisTime, GPS_INFO); // 091208
StartupStore(_T(".............. trigger from GGA\n"));
}
#endif
}
if (gpsValid) {
double tmplat;
double tmplon;
tmplat = MixedFormatToDegrees(StrToDouble(params[1], NULL));
tmplat = NorthOrSouth(tmplat, params[2][0]);
tmplon = MixedFormatToDegrees(StrToDouble(params[3], NULL));
tmplon = EastOrWest(tmplon,params[4][0]);
if (!((tmplat == 0.0) && (tmplon == 0.0))) {
GPS_INFO->Latitude = tmplat;
GPS_INFO->Longitude = tmplon;
}
else {
#ifdef DEBUG_GPS
StartupStore(_T("++++++ GGA gpsValid with invalid posfix!%s"),NEWLINE);
#endif
gpsValid=false;
}
}
// GGA is marking now triggering end of data, so OK to use baro
// Even with invalid fix we might have valid baro data of course
// any NMEA sentence with time can now trigger gps update: the first to detect new time will make trigger.
// we assume also that any sentence with no time belongs to current time.
// note that if no time from gps, no use of vario and baro data, but also no fix available.. so no problems
if(RMZAvailable) {
GPS_INFO->BaroAltitudeAvailable = true;
GPS_INFO->BaroAltitude = RMZAltitude;
}
else if(RMAAvailable) {
GPS_INFO->BaroAltitudeAvailable = true;
GPS_INFO->BaroAltitude = RMAAltitude;
}
#ifndef NEWTRIGGERGPS
if (!gpsValid) { // 091108 addon BUGFIX GCA
// in old mode, GGA had priority over RMC for triggering, so this was needed in case of no signal
TriggerGPSUpdate(); // 091205 TESTFIX
return FALSE; // 091108 addon BUGFIX GCA
}
#endif
// "Altitude" should always be GPS Altitude.
GPS_INFO->Altitude = ParseAltitude(params[8], params[9]);
GPS_INFO->Altitude += (GPSAltitudeOffset/1000); // BUGFIX 100429
double GeoidSeparation;
if (_tcslen(params[10])>0) {
// No real need to parse this value,
// but we do assume that no correction is required in this case
GeoidSeparation = ParseAltitude(params[10], params[11]);
} else {
if (UseGeoidSeparation) {
GeoidSeparation = LookupGeoidSeparation(GPS_INFO->Latitude, GPS_INFO->Longitude);
GPS_INFO->Altitude -= GeoidSeparation;
}
}
#ifndef NEWTRIGGERGPS
// if RMC would be Triggering update, we loose the relative altitude, which is coming AFTER rmc!
// This was causing old altitude recorded in new pos fix.
TriggerGPSUpdate();
#endif
return TRUE;
}
