// RMN: Volkslogger
// Source data:
// $PGCS,1,0EC0,FFF9,0C6E,02*61
// $PGCS,1,0EC0,FFFA,0C6E,03*18
static bool
vl_PGCS1(NMEAInputLine &line, NMEAInfo &info)
{
if (line.Read(1) != 1)
return false;
/* pressure sensor */
line.Skip();
// four characers, hex, barometric altitude
unsigned u_altitude;
if (line.ReadHexChecked(u_altitude)) {
int altitude(u_altitude);
if (altitude > 60000)
/* Assuming that altitude has wrapped around. 60 000 m occurs
at QNH ~2000 hPa */
altitude -= 65535;
info.ProvidePressureAltitude(fixed(altitude));
}
// ExtractParameter(String,ctemp,3);
// four characters, hex, constant. Value 1371 (dec)
// nSatellites = (int)(min(12,HexStrToDouble(ctemp, NULL)));
return false;
}
static bool
ParseData(NMEAInputLine &line, NMEAInfo &info)
{
// $PCPROBE,T,Q0,Q1,Q2,Q3,ax,ay,az,temp,rh,batt,delta_press,abs_press,C,
// see http://www.compassitaly.com/CMS/index.php/en/download/c-probe/231-c-probeusermanual/download
unsigned _q[4];
bool q_available = line.ReadHexChecked(_q[0]);
if (!line.ReadHexChecked(_q[1]))
q_available = false;
if (!line.ReadHexChecked(_q[2]))
q_available = false;
if (!line.ReadHexChecked(_q[3]))
q_available = false;
if (q_available) {
fixed q[4];
for (unsigned i = 0; i < 4; ++i)
// Cast to int16_t to interpret the 16th bit as the sign bit
q[i] = fixed((int16_t)_q[i]) / 1000;
fixed sin_pitch = -2 * (q[0] * q[2] - q[3] * q[1]);
if (sin_pitch <= fixed(1) && sin_pitch >= fixed(-1)) {
info.attitude.pitch_angle_available = true;
info.attitude.pitch_angle = Angle::asin(sin_pitch);
Angle heading = Angle::HalfCircle() +
Angle::FromXY(sqr(q[3]) - sqr(q[0]) - sqr(q[1]) + sqr(q[2]),
Double(q[1] * q[2] + q[3] * q[0]));
info.attitude.heading_available.Update(info.clock);
info.attitude.heading = heading;
Angle roll = Angle::FromXY(sqr(q[3]) + sqr(q[0]) - sqr(q[1]) - sqr(q[2]),
Double(q[0] * q[1] + q[3] * q[2]));
info.attitude.bank_angle_available = true;
info.attitude.bank_angle = roll;
}
}
unsigned _a[3];
bool a_available = line.ReadHexChecked(_a[0]);
if (!line.ReadHexChecked(_a[1]))
a_available = false;
if (!line.ReadHexChecked(_a[2]))
a_available = false;
if (a_available) {
fixed a[3];
for (unsigned i = 0; i < 3; ++i)
// Cast to int16_t to interpret the 16th bit as the sign bit
a[i] = fixed((int16_t)_a[i]) / 1000;
info.acceleration.ProvideGLoad(sqrt(sqr(a[0]) + sqr(a[1]) + sqr(a[2])), true);
}
unsigned temperature;
if (line.ReadHexChecked(temperature)) {
info.temperature_available = true;
info.temperature = CelsiusToKelvin(fixed((int16_t)temperature) / 10);
}
unsigned humidity;
if (line.ReadHexChecked(humidity)) {
info.humidity_available = true;
info.humidity = fixed((int16_t)humidity) / 10;
}
unsigned battery_level;
if (line.ReadHexChecked(battery_level)) {
info.battery_level_available.Update(info.clock);
info.battery_level = fixed((int16_t)battery_level);
}
unsigned _delta_pressure;
if (line.ReadHexChecked(_delta_pressure)) {
fixed delta_pressure = fixed((int16_t)_delta_pressure) / 10;
info.ProvideDynamicPressure(AtmosphericPressure::Pascal(delta_pressure));
}
return true;
}
