/**
* Calculates location, altitude, average climb speed and
* looks up the callsign of each target
*/
void
DeviceBlackboard::ProcessFLARM()
{
const NMEA_INFO &basic = Basic();
FLARM_STATE &flarm = SetBasic().flarm;
const FLARM_STATE &last_flarm = LastBasic().flarm;
// if (FLARM data is available)
if (!flarm.available || flarm.traffic.empty())
return;
fixed FLARM_NorthingToLatitude(0);
fixed FLARM_EastingToLongitude(0);
if (basic.LocationAvailable) {
// Precalculate relative east and north projection to lat/lon
// for Location calculations of each target
Angle delta_lat = Angle::degrees(fixed(0.01));
Angle delta_lon = Angle::degrees(fixed(0.01));
GeoPoint plat = basic.Location;
plat.Latitude += delta_lat;
GeoPoint plon = basic.Location;
plon.Longitude += delta_lon;
fixed dlat = Distance(basic.Location, plat);
fixed dlon = Distance(basic.Location, plon);
if (positive(fabs(dlat)) && positive(fabs(dlon))) {
FLARM_NorthingToLatitude = delta_lat.value_degrees() / dlat;
FLARM_EastingToLongitude = delta_lon.value_degrees() / dlon;
}
}
// for each item in traffic
for (unsigned i = 0; i < flarm.traffic.size(); i++) {
FLARM_TRAFFIC &traffic = flarm.traffic[i];
// if we don't know the target's name yet
if (!traffic.HasName()) {
// lookup the name of this target's id
const TCHAR *fname = FlarmDetails::LookupCallsign(traffic.id);
if (fname != NULL)
traffic.name = fname;
}
// Calculate distance
traffic.distance = hypot(traffic.relative_north, traffic.relative_east);
// Calculate Location
traffic.location_available = basic.LocationAvailable;
if (traffic.location_available) {
traffic.location.Latitude =
Angle::degrees(traffic.relative_north * FLARM_NorthingToLatitude) +
basic.Location.Latitude;
traffic.location.Longitude =
Angle::degrees(traffic.relative_east * FLARM_EastingToLongitude) +
basic.Location.Longitude;
}
// Calculate absolute altitude
traffic.altitude_available = basic.GPSAltitudeAvailable;
if (traffic.altitude_available)
traffic.altitude = traffic.relative_altitude + basic.GPSAltitude;
// Calculate average climb rate
traffic.climb_rate_avg30s_available = traffic.altitude_available;
if (traffic.climb_rate_avg30s_available)
traffic.climb_rate_avg30s =
flarmCalculations.Average30s(traffic.id, basic.Time, traffic.altitude);
// The following calculations are only relevant for targets
// where information is missing
if (traffic.track_received || traffic.turn_rate_received ||
traffic.speed_received || traffic.climb_rate_received)
continue;
// Check if the target has been seen before in the last seconds
const FLARM_TRAFFIC *last_traffic = last_flarm.FindTraffic(traffic.id);
if (last_traffic == NULL || !last_traffic->valid)
continue;
// Calculate the time difference between now and the last contact
fixed dt = traffic.valid.GetTimeDifference(last_traffic->valid);
if (positive(dt)) {
// Calculate the immediate climb rate
if (!traffic.climb_rate_received)
traffic.climb_rate =
(traffic.relative_altitude - last_traffic->relative_altitude) / dt;
} else {
// Since the time difference is zero (or negative)
// we can just copy the old values
if (!traffic.climb_rate_received)
traffic.climb_rate = last_traffic->climb_rate;
}
if (positive(dt) &&
traffic.location_available &&
last_traffic->location_available) {
// Calculate the GeoVector between now and the last contact
GeoVector vec = last_traffic->location.distance_bearing(traffic.location);
if (!traffic.track_received)
traffic.track = vec.Bearing;
// Calculate the turn rate
if (!traffic.turn_rate_received)
traffic.turn_rate =
(traffic.track - last_traffic->track).as_delta().value_degrees() / dt;
// Calculate the speed [m/s]
if (!traffic.speed_received)
traffic.speed = vec.Distance / dt;
} else {
// Since the time difference is zero (or negative)
// we can just copy the old values
if (!traffic.track_received)
traffic.track = last_traffic->track;
if (!traffic.turn_rate_received)
traffic.turn_rate = last_traffic->turn_rate;
if (!traffic.speed_received)
traffic.speed = last_traffic->speed;
}
}
}
/**
* Parses a PFLAA sentence
* (Data on other moving objects around)
* @param String Input string
* @param params Parameter array
* @param nparams Number of parameters
* @param GPS_INFO GPS_INFO struct to parse into
* @return Parsing success
* @see http://flarm.com/support/manual/FLARM_DataportManual_v4.06E.pdf
*/
bool
NMEAParser::PFLAA(NMEAInputLine &line, NMEA_INFO *GPS_INFO)
{
FLARM_STATE &flarm = GPS_INFO->flarm;
isFlarm = true;
// calculate relative east and north projection to lat/lon
Angle delta_lat = Angle::degrees(fixed(0.01));
Angle delta_lon = Angle::degrees(fixed(0.01));
GeoPoint plat = GPS_INFO->Location;
plat.Latitude += delta_lat;
GeoPoint plon = GPS_INFO->Location;
plon.Longitude += delta_lon;
fixed dlat = Distance(GPS_INFO->Location, plat);
fixed dlon = Distance(GPS_INFO->Location, plon);
fixed FLARM_NorthingToLatitude(0);
fixed FLARM_EastingToLongitude(0);
if (positive(fabs(dlat)) && positive(fabs(dlon))) {
FLARM_NorthingToLatitude = delta_lat.value_degrees() / dlat;
FLARM_EastingToLongitude = delta_lon.value_degrees() / dlon;
}
// PFLAA,<AlarmLevel>,<RelativeNorth>,<RelativeEast>,<RelativeVertical>,
// <IDType>,<ID>,<Track>,<TurnRate>,<GroundSpeed>,<ClimbRate>,<AcftType>
FLARM_TRAFFIC traffic;
traffic.AlarmLevel = line.read(0);
traffic.RelativeNorth = line.read(fixed_zero);
traffic.RelativeEast = line.read(fixed_zero);
traffic.RelativeAltitude = line.read(fixed_zero);
traffic.IDType = line.read(0);
// 5 id, 6 digit hex
char id_string[16];
line.read(id_string, 16);
traffic.ID.parse(id_string, NULL);
traffic.TrackBearing = Angle::degrees(line.read(fixed_zero));
traffic.TurnRate = line.read(fixed_zero);
traffic.Speed = line.read(fixed_zero);
traffic.ClimbRate = line.read(fixed_zero);
traffic.Type = (FLARM_TRAFFIC::AircraftType)line.read(0);
FLARM_TRAFFIC *flarm_slot = flarm.FindTraffic(traffic.ID);
if (flarm_slot == NULL) {
flarm_slot = flarm.AllocateTraffic();
if (flarm_slot == NULL)
// no more slots available
return false;
flarm_slot->ID = traffic.ID;
flarm.NewTraffic = true;
InputEvents::processGlideComputer(GCE_FLARM_NEWTRAFFIC);
}
// set time of fix to current time
flarm_slot->Time_Fix = GPS_INFO->Time;
// PFLAA,<AlarmLevel>,<RelativeNorth>,<RelativeEast>,<RelativeVertical>,
// <IDType>,<ID>,<Track>,<TurnRate>,<GroundSpeed>,<ClimbRate>,<AcftType>
flarm_slot->AlarmLevel = traffic.AlarmLevel;
flarm_slot->RelativeNorth = traffic.RelativeNorth;
flarm_slot->RelativeEast = traffic.RelativeEast;
flarm_slot->RelativeAltitude = traffic.RelativeAltitude;
flarm_slot->IDType = traffic.IDType;
flarm_slot->TrackBearing = traffic.TrackBearing;
flarm_slot->TurnRate = traffic.TurnRate;
flarm_slot->Speed = traffic.Speed;
flarm_slot->ClimbRate = traffic.ClimbRate;
flarm_slot->Type = traffic.Type;
// 1 relativenorth, meters
flarm_slot->Location.Latitude = Angle::degrees(flarm_slot->RelativeNorth
* FLARM_NorthingToLatitude) + GPS_INFO->Location.Latitude;
// 2 relativeeast, meters
flarm_slot->Location.Longitude = Angle::degrees(flarm_slot->RelativeEast
* FLARM_EastingToLongitude) + GPS_INFO->Location.Longitude;
// alt
flarm_slot->Altitude = flarm_slot->RelativeAltitude + GPS_INFO->GPSAltitude;
flarm_slot->Average30s = flarmCalculations.Average30s(flarm_slot->ID,
GPS_INFO->Time,
flarm_slot->Altitude);
// QUESTION TB: never returns true?!
return false;
}
BOOL NMEAParser::PFLAA(TCHAR *String, TCHAR **params, size_t nparams, NMEA_INFO *pGPS)
{
int flarm_slot = 0;
isFlarm = true;
// 5 id, 6 digit hex
long ID;
swscanf(params[5],TEXT("%lx"), &ID);
// unsigned long uID = ID;
flarm_slot = FLARM_FindSlot(pGPS, ID);
if (flarm_slot<0) {
// no more slots available,
#ifdef DEBUG_LKT
StartupStore(_T("... NO SLOTS for Flarm traffic, too many ids!%s"),NEWLINE);
#endif
return FALSE;
}
// before changing timefix, see if it was an old target back locked in!
CheckBackTarget(pGPS, flarm_slot);
// and then set time of fix to current time
pGPS->FLARM_Traffic[flarm_slot].Time_Fix = pGPS->Time;
TCHAR nString[MAX_NMEA_LEN+1];
unsigned int i, j;
for (i=0, j=0; i<_tcslen(String); i++) {
// if not a comma, copy and proceed
if (String[i] != _T(',')) {
nString[j++]=String[i];
continue;
}
// there was a comma, but the next one is not a comma, so ok..
if (String[i+1] != _T(',') ) {
nString[j++]=String[i];
continue;
}
// We have a bad ,, case that scanf cannot bear with, so we add a 0
nString[j++] = String[i];
nString[j++] = _T('0');
}
nString[j]=_T('\0');
//#ifdef DEBUG_LKT
//StartupStore(_T("PFLAA: %s%s"),nString,NEWLINE);
//#endif
_stscanf(nString,
TEXT("%hu,%lf,%lf,%lf,%hu,%lx,%lf,%lf,%lf,%lf,%hu"),
&pGPS->FLARM_Traffic[flarm_slot].AlarmLevel, // unsigned short 0
&pGPS->FLARM_Traffic[flarm_slot].RelativeNorth, // 1
&pGPS->FLARM_Traffic[flarm_slot].RelativeEast, // 2
&pGPS->FLARM_Traffic[flarm_slot].RelativeAltitude, // 3
&pGPS->FLARM_Traffic[flarm_slot].IDType, // unsigned short 4
&pGPS->FLARM_Traffic[flarm_slot].ID, // 6 char hex
&pGPS->FLARM_Traffic[flarm_slot].TrackBearing, // double 6
&pGPS->FLARM_Traffic[flarm_slot].TurnRate, // double 7
&pGPS->FLARM_Traffic[flarm_slot].Speed, // double 8 m/s
&pGPS->FLARM_Traffic[flarm_slot].ClimbRate, // double 9 m/s
&pGPS->FLARM_Traffic[flarm_slot].Type); // unsigned short 10
// 1 relativenorth, meters
pGPS->FLARM_Traffic[flarm_slot].Latitude =
pGPS->FLARM_Traffic[flarm_slot].RelativeNorth *FLARM_NorthingToLatitude + pGPS->Latitude;
// 2 relativeeast, meters
pGPS->FLARM_Traffic[flarm_slot].Longitude =
pGPS->FLARM_Traffic[flarm_slot].RelativeEast *FLARM_EastingToLongitude + pGPS->Longitude;
// we need to compare with BARO altitude FLARM relative Alt difference!
if (pGPS->BaroAltitude>0) // just to be sure
pGPS->FLARM_Traffic[flarm_slot].Altitude = pGPS->FLARM_Traffic[flarm_slot].RelativeAltitude + pGPS->BaroAltitude;
else
pGPS->FLARM_Traffic[flarm_slot].Altitude = pGPS->FLARM_Traffic[flarm_slot].RelativeAltitude + pGPS->Altitude;
pGPS->FLARM_Traffic[flarm_slot].Average30s = flarmCalculations.Average30s(
pGPS->FLARM_Traffic[flarm_slot].ID,
pGPS->Time,
pGPS->FLARM_Traffic[flarm_slot].Altitude);
TCHAR *name = pGPS->FLARM_Traffic[flarm_slot].Name;
//TCHAR *cn = pGPS->FLARM_Traffic[flarm_slot].Cn;
// If there is no name yet, or if we have a pending update event..
if (!_tcslen(name) || pGPS->FLARM_Traffic[flarm_slot].UpdateNameFlag ) {
#ifdef DEBUG_LKT
if (pGPS->FLARM_Traffic[flarm_slot].UpdateNameFlag ) {
StartupStore(_T("... UpdateNameFlag for slot %d\n"),flarm_slot);
} else {
StartupStore(_T("... First lookup name for slot %d\n"),flarm_slot);
}
#endif
pGPS->FLARM_Traffic[flarm_slot].UpdateNameFlag=false; // clear flag first
TCHAR *fname = LookupFLARMDetails(pGPS->FLARM_Traffic[flarm_slot].ID);
if (fname) {
LK_tcsncpy(name,fname,MAXFLARMNAME);
// Now we have the name, so lookup also for the Cn
// This will return either real Cn or Name, again
TCHAR *cname = LookupFLARMCn(pGPS->FLARM_Traffic[flarm_slot].ID);
if (cname) {
int cnamelen=_tcslen(cname);
if (cnamelen<=MAXFLARMCN) {
_tcscpy( pGPS->FLARM_Traffic[flarm_slot].Cn, cname);
} else {
// else probably it is the Name again, and we create a fake Cn
pGPS->FLARM_Traffic[flarm_slot].Cn[0]=cname[0];
pGPS->FLARM_Traffic[flarm_slot].Cn[1]=cname[cnamelen-2];
pGPS->FLARM_Traffic[flarm_slot].Cn[2]=cname[cnamelen-1];
pGPS->FLARM_Traffic[flarm_slot].Cn[3]=_T('\0');
}
} else {
_tcscpy( pGPS->FLARM_Traffic[flarm_slot].Cn, _T("Err"));
}
#ifdef DEBUG_LKT
StartupStore(_T("... PFLAA Name to FlarmSlot=%d ID=%lx Name=<%s> Cn=<%s>\n"),
flarm_slot,
pGPS->FLARM_Traffic[flarm_slot].ID,
pGPS->FLARM_Traffic[flarm_slot].Name,
pGPS->FLARM_Traffic[flarm_slot].Cn);
#endif
} else {
// Else we NEED to set a name, otherwise it will constantly search for it over and over..
name[0]=_T('?');
name[1]=_T('\0');
pGPS->FLARM_Traffic[flarm_slot].Cn[0]=_T('?');
pGPS->FLARM_Traffic[flarm_slot].Cn[1]=_T('\0');
#ifdef DEBUG_LKT
StartupStore(_T("... New FlarmSlot=%d ID=%lx with no name, assigned a \"?\"\n"),
flarm_slot,
pGPS->FLARM_Traffic[flarm_slot].ID);
#endif
}
}
#ifdef DEBUG_LKT
StartupStore(_T("... PFLAA pGPS slot=%d ID=%lx name=<%s> cn=<%s> rAlt=%.0f Track=%.0f Speed=%.0f Climb=%.1f Baro=%f FlAlt=%f\n"),
flarm_slot,
pGPS->FLARM_Traffic[flarm_slot].ID,
pGPS->FLARM_Traffic[flarm_slot].Name,
pGPS->FLARM_Traffic[flarm_slot].Cn,
pGPS->FLARM_Traffic[flarm_slot].RelativeAltitude,
pGPS->FLARM_Traffic[flarm_slot].TrackBearing,
pGPS->FLARM_Traffic[flarm_slot].Speed,
pGPS->FLARM_Traffic[flarm_slot].ClimbRate,
pGPS->BaroAltitude,
pGPS->FLARM_Traffic[flarm_slot].Altitude);
#endif
// update Virtual Waypoint for target FLARM
if (flarm_slot == LKTargetIndex) {
WayPointList[RESWP_FLARMTARGET].Latitude = pGPS->FLARM_Traffic[LKTargetIndex].Latitude;
WayPointList[RESWP_FLARMTARGET].Longitude = pGPS->FLARM_Traffic[LKTargetIndex].Longitude;
WayPointList[RESWP_FLARMTARGET].Altitude = pGPS->FLARM_Traffic[LKTargetIndex].Altitude;
}
return FALSE;
}
//
// The purpose of simulating flarm traffic is NOT to play a videogame against flarm objects:
// we only need some traffic to display for testing on ground during simulations.
//
// >>>>> This is accessing directly the GPS_INFO main struct, writing inside it. <<<<<
// Called by LKSimulator, already locking FlightData . No worry.
//
void SimFlarmTraffic(long ID, double offset)
{
int flarm_slot = 0;
bool newtraffic=false;
GPS_INFO.FLARM_Available=true;
LastFlarmCommandTime=GPS_INFO.Time; // useless really, we dont call UpdateMonitor from SIM
flarm_slot = FLARM_FindSlot(&GPS_INFO, ID);
if (flarm_slot<0) return;
if ( GPS_INFO.FLARM_Traffic[flarm_slot].Status == LKT_EMPTY) {
newtraffic=true;
}
// before changing timefix, see if it was an old target back locked in!
CheckBackTarget(&GPS_INFO, flarm_slot);
// and then set time of fix to current time
GPS_INFO.FLARM_Traffic[flarm_slot].Time_Fix = GPS_INFO.Time;
/*
TEXT("%hu,%lf,%lf,%lf,%hu,%lx,%lf,%lf,%lf,%lf,%hu"),
&GPS_INFO.FLARM_Traffic[flarm_slot].AlarmLevel, // unsigned short 0
&GPS_INFO.FLARM_Traffic[flarm_slot].RelativeNorth, // 1
&GPS_INFO.FLARM_Traffic[flarm_slot].RelativeEast, // 2
&GPS_INFO.FLARM_Traffic[flarm_slot].RelativeAltitude, // 3
&GPS_INFO.FLARM_Traffic[flarm_slot].IDType, // unsigned short 4
&GPS_INFO.FLARM_Traffic[flarm_slot].ID, // 6 char hex
&GPS_INFO.FLARM_Traffic[flarm_slot].TrackBearing, // double 6
&GPS_INFO.FLARM_Traffic[flarm_slot].TurnRate, // double 7
&GPS_INFO.FLARM_Traffic[flarm_slot].Speed, // double 8 m/s
&GPS_INFO.FLARM_Traffic[flarm_slot].ClimbRate, // double 9 m/s
&GPS_INFO.FLARM_Traffic[flarm_slot].Type); // unsigned short 10
*/
// If first time seen this traffic, place it nearby
if ( newtraffic ) {
GPS_INFO.FLARM_Traffic[flarm_slot].RelativeNorth=2;
GPS_INFO.FLARM_Traffic[flarm_slot].RelativeEast=2;
GPS_INFO.FLARM_Traffic[flarm_slot].Latitude = SimNewCoordinate(GPS_INFO.Latitude, offset);
GPS_INFO.FLARM_Traffic[flarm_slot].Longitude = SimNewCoordinate(GPS_INFO.Longitude,offset);
GPS_INFO.FLARM_Traffic[flarm_slot].Altitude = SimNewAltitude(GPS_INFO.Altitude);
GPS_INFO.FLARM_Traffic[flarm_slot].TrackBearing= (double) rand()/91.276;
GPS_INFO.FLARM_Traffic[flarm_slot].AlarmLevel=0;
GPS_INFO.FLARM_Traffic[flarm_slot].ID=ID;
GPS_INFO.FLARM_Traffic[flarm_slot].TurnRate=0;
GPS_INFO.FLARM_Traffic[flarm_slot].Speed= SimNewSpeed(GPS_INFO.Speed);
GPS_INFO.FLARM_Traffic[flarm_slot].Status = LKT_REAL;
} else {
GPS_INFO.FLARM_Traffic[flarm_slot].Latitude += (double)(rand()/20000000.0)*(rand()>15000?1:-1);
GPS_INFO.FLARM_Traffic[flarm_slot].Longitude += (double)(rand()/20000000.0)*(rand()>15000?1:-1);
GPS_INFO.FLARM_Traffic[flarm_slot].Altitude += (double)(rand()/2200.0)*(rand()>15000?1:-1);
}
GPS_INFO.FLARM_Traffic[flarm_slot].RelativeAltitude = GPS_INFO.FLARM_Traffic[flarm_slot].Altitude - GPS_INFO.Altitude;
//
GPS_INFO.FLARM_Traffic[flarm_slot].Average30s = flarmCalculations.Average30s(
GPS_INFO.FLARM_Traffic[flarm_slot].ID,
GPS_INFO.Time,
GPS_INFO.FLARM_Traffic[flarm_slot].Altitude);
TCHAR *name = GPS_INFO.FLARM_Traffic[flarm_slot].Name;
//TCHAR *cn = GPS_INFO.FLARM_Traffic[flarm_slot].Cn;
// If there is no name yet, or if we have a pending update event..
if (!_tcslen(name) || GPS_INFO.FLARM_Traffic[flarm_slot].UpdateNameFlag ) {
#ifdef DEBUG_SIMLKT
if (GPS_INFO.FLARM_Traffic[flarm_slot].UpdateNameFlag ) {
StartupStore(_T("... UpdateNameFlag for slot %d\n"),flarm_slot);
} else {
StartupStore(_T("... First lookup name for slot %d\n"),flarm_slot);
}
#endif
GPS_INFO.FLARM_Traffic[flarm_slot].UpdateNameFlag=false; // clear flag first
TCHAR *fname = LookupFLARMDetails(GPS_INFO.FLARM_Traffic[flarm_slot].ID);
if (fname) {
LK_tcsncpy(name,fname,MAXFLARMNAME);
// Now we have the name, so lookup also for the Cn
// This will return either real Cn or Name, again
TCHAR *cname = LookupFLARMCn(GPS_INFO.FLARM_Traffic[flarm_slot].ID);
if (cname) {
int cnamelen=_tcslen(cname);
if (cnamelen<=MAXFLARMCN) {
_tcscpy( GPS_INFO.FLARM_Traffic[flarm_slot].Cn, cname);
} else {
// else probably it is the Name again, and we create a fake Cn
GPS_INFO.FLARM_Traffic[flarm_slot].Cn[0]=cname[0];
GPS_INFO.FLARM_Traffic[flarm_slot].Cn[1]=cname[cnamelen-2];
GPS_INFO.FLARM_Traffic[flarm_slot].Cn[2]=cname[cnamelen-1];
GPS_INFO.FLARM_Traffic[flarm_slot].Cn[3]=_T('\0');
}
} else {
_tcscpy( GPS_INFO.FLARM_Traffic[flarm_slot].Cn, _T("Err"));
}
#ifdef DEBUG_SIMLKT
StartupStore(_T("... PFLAA Name to FlarmSlot=%d ID=%lx Name=<%s> Cn=<%s>\n"),
flarm_slot,
GPS_INFO.FLARM_Traffic[flarm_slot].ID,
GPS_INFO.FLARM_Traffic[flarm_slot].Name,
GPS_INFO.FLARM_Traffic[flarm_slot].Cn);
#endif
} else {
// Else we NEED to set a name, otherwise it will constantly search for it over and over..
name[0]=_T('?');
name[1]=_T('\0');
GPS_INFO.FLARM_Traffic[flarm_slot].Cn[0]=_T('?');
GPS_INFO.FLARM_Traffic[flarm_slot].Cn[1]=_T('\0');
#ifdef DEBUG_SIMLKT
StartupStore(_T("... New FlarmSlot=%d ID=%lx with no name, assigned a \"?\"\n"),
flarm_slot,
GPS_INFO.FLARM_Traffic[flarm_slot].ID);
#endif
}
}
// update Virtual Waypoint for target FLARM
if (flarm_slot == LKTargetIndex) {
WayPointList[RESWP_FLARMTARGET].Latitude = GPS_INFO.FLARM_Traffic[LKTargetIndex].Latitude;
WayPointList[RESWP_FLARMTARGET].Longitude = GPS_INFO.FLARM_Traffic[LKTargetIndex].Longitude;
WayPointList[RESWP_FLARMTARGET].Altitude = GPS_INFO.FLARM_Traffic[LKTargetIndex].Altitude;
}
}
/**
* Parses a PFLAA sentence
* @param String Input string
* @param params Parameter array
* @param nparams Number of parameters
* @param GPS_INFO GPS_INFO struct to parse into
* @return Parsing success
* @see http://flarm.com/support/manual/FLARM_DataportManual_v4.06E.pdf
*/
bool NMEAParser::PFLAA(const TCHAR *String,
const TCHAR **params, size_t nparams,
NMEA_INFO *GPS_INFO)
{
int flarm_slot = 0;
isFlarm = true;
// 5 id, 6 digit hex
long ID;
_stscanf(params[5],TEXT("%lx"), &ID);
// unsigned long uID = ID;
flarm_slot = FLARM_FindSlot(GPS_INFO, ID);
if (flarm_slot<0) {
// no more slots available,
return false;
}
// set time of fix to current time
GPS_INFO->FLARM_Traffic[flarm_slot].Time_Fix = GPS_INFO->Time;
_stscanf(String,
TEXT("%hu,%lf,%lf,%lf,%hu,%lx,%lf,%lf,%lf,%lf,%hu"),
&GPS_INFO->FLARM_Traffic[flarm_slot].AlarmLevel, // unsigned short 0
&GPS_INFO->FLARM_Traffic[flarm_slot].RelativeNorth, // double? 1
&GPS_INFO->FLARM_Traffic[flarm_slot].RelativeEast, // double? 2
&GPS_INFO->FLARM_Traffic[flarm_slot].RelativeAltitude, // double 3
&GPS_INFO->FLARM_Traffic[flarm_slot].IDType, // unsigned short 4
&GPS_INFO->FLARM_Traffic[flarm_slot].ID, // 6 char hex
&GPS_INFO->FLARM_Traffic[flarm_slot].TrackBearing, // double 6
&GPS_INFO->FLARM_Traffic[flarm_slot].TurnRate, // double 7
&GPS_INFO->FLARM_Traffic[flarm_slot].Speed, // double 8
&GPS_INFO->FLARM_Traffic[flarm_slot].ClimbRate, // double 9
&GPS_INFO->FLARM_Traffic[flarm_slot].Type); // unsigned short 10
// 1 relativenorth, meters
GPS_INFO->FLARM_Traffic[flarm_slot].Location.Latitude =
GPS_INFO->FLARM_Traffic[flarm_slot].RelativeNorth
*FLARM_NorthingToLatitude + GPS_INFO->Location.Latitude;
// 2 relativeeast, meters
GPS_INFO->FLARM_Traffic[flarm_slot].Location.Longitude =
GPS_INFO->FLARM_Traffic[flarm_slot].RelativeEast
*FLARM_EastingToLongitude + GPS_INFO->Location.Longitude;
// alt
GPS_INFO->FLARM_Traffic[flarm_slot].Altitude =
GPS_INFO->FLARM_Traffic[flarm_slot].RelativeAltitude +
GPS_INFO->Altitude;
#ifdef FLARM_AVERAGE
GPS_INFO->FLARM_Traffic[flarm_slot].Average30s =
flarmCalculations.Average30s(
GPS_INFO->FLARM_Traffic[flarm_slot].ID,
GPS_INFO->Time,
GPS_INFO->FLARM_Traffic[flarm_slot].Altitude);
#endif
// QUESTION TB: never returns true?!
return false;
}
