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[gps] nmea: differentiate between GPS and GLONASS sats

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This commit is contained in:
Felix Ruess
2015-03-24 18:04:24 +01:00
parent 25b7d16795
commit 830dd4ac62
1 changed files with 23 additions and 9 deletions
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sw/airborne/subsystems/gps/gps_nmea.c
+23 -9
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@@ -412,32 +412,40 @@ static void nmea_parse_GGA(void)
}
/**
* parse GPGSV-nmea-messages stored in
* nmea_msg_buf .
* Parse GSV-nmea-messages.
* Msg stored in gps_nmea.msg_buf.
*/
static void nmea_parse_GSV(void)
{
int i = 6; // current position in the message, start after: GPGSA,
int i = 6; // current position in the message, start after: GxGSA,
// attempt to reject empty packets right away
if (gps_nmea.msg_buf[i] == ',' && gps_nmea.msg_buf[i + 1] == ',') {
NMEA_PRINT("p_GPGSV() - skipping empty message\n\r");
NMEA_PRINT("p_GSV() - skipping empty message\n\r");
return;
}
// check what satellites this messages contains
// GPGSV -> GPS
// GLGSV -> GLONASS
bool_t is_glonass = FALSE;
if (!strncmp(&gps_nmea.msg_buf[0] , "GL", 2)) {
is_glonass = TRUE;
}
// total sentences
int nb_sen = atoi(&gps_nmea.msg_buf[i]);
NMEA_PRINT("p_GPGSV() - %i sentences\n\r", nb_sen);
NMEA_PRINT("p_GSV() - %i sentences\n\r", nb_sen);
nmea_read_until(&i);
// current sentence
int cur_sen = atoi(&gps_nmea.msg_buf[i]);
NMEA_PRINT("p_GPGSV() - sentence=%i\n\r", cur_sen);
NMEA_PRINT("p_GSV() - sentence=%i\n\r", cur_sen);
nmea_read_until(&i);
// num satellites in view
int num_sat = atoi(&gps_nmea.msg_buf[i]);
NMEA_PRINT("p_GPGSV() - num_sat=%i\n\r", num_sat);
NMEA_PRINT("p_GSV() - num_sat=%i\n\r", num_sat);
nmea_read_until(&i);
// up to 4 sats per sentence
@@ -455,12 +463,18 @@ static void nmea_parse_GSV(void)
nmea_read_until(&i);
int ch_idx = (cur_sen - 1) * 4 + sat_cnt;
if (ch_idx > 0 && ch_idx < 12) {
// don't populate svinfos with GLONASS sats for now
if (!is_glonass && ch_idx > 0 && ch_idx < 12) {
gps.svinfos[ch_idx].svid = prn;
gps.svinfos[ch_idx].cno = snr;
gps.svinfos[ch_idx].elev = elev;
gps.svinfos[ch_idx].azim = azim;
}
NMEA_PRINT("p_GPGSV() - SAT %i PRN=%i elev=%i azim=%i snr=%i\n\r", ch_idx, prn, elev, azim, snr);
if (is_glonass) {
NMEA_PRINT("p_GSV() - GLONASS %i PRN=%i elev=%i azim=%i snr=%i\n\r", ch_idx, prn, elev, azim, snr);
}
else {
NMEA_PRINT("p_GSV() - GPS %i PRN=%i elev=%i azim=%i snr=%i\n\r", ch_idx, prn, elev, azim, snr);
}
}
}