Design decision: Trie North data gets mapped into existing fields (track, etc)

...rather than new ones like heading.  This gets rid of the HEADING_FIX code
contributed but not compiled in by default.

Also, fix a place in the zodiac driver that sets a fix rather than newdata 
member.

6 files changed, 16 insertions, 68 deletions

diff --git a/gps.h b/gps.h
index f25e3ceb..187d0a01 100644
--- a/gps.h
+++ b/gps.h
@@ -66,12 +66,6 @@ struct gps_fix_t {
     double eps;		/* Speed uncertainty, meters/sec */
     double climb;       /* Vertical speed, meters/sec */
     double epc;		/* Vertical speed uncertainty */
-#ifdef HEADING_FIX
-    double heading;     /* Heading (relative to true north) - only available from True North or comparable digital compass devices */
-#endif /* HEADING_FIX */
-    double pitch;       /* Pitch angle in degrees */
-    double roll;        /* Roll angle in degrees */
-    double dip;         /* Dip angle in degrees */
 };
 
 /*  
@@ -255,7 +249,7 @@ struct gps_data_t {
 #define SAT_FIX_USED	0x40		/* used for position fix */
 #endif
 
-    /* compass status */
+    /* compass status -- TrueNorth (and any similar) devices only */
     char headingStatus;
     char pitchStatus;
     char rollStatus;
diff --git a/gpsd.c b/gpsd.c
index 061fac82..829d81c5 100644
--- a/gpsd.c
+++ b/gpsd.c
@@ -742,14 +742,6 @@ static int handle_gpsd_request(int cfd, char *buf, int buflen)
 	    else
 		(void)snprintf(phrase, sizeof(phrase), ",G=GPS");
 	    break;
-#ifdef HEADING_FIX
-	case 'H':
-	    if (assign_channel(whoami) && have_fix(whoami->device) && isnan(whoami->fixbuffer.heading)==0)
-		(void)snprintf(phrase, sizeof(phrase), ",H=%.4f", whoami->fixbuffer.heading);
-	    else
-		(void)strlcpy(phrase, ",H=?", BUFSIZ);
-	    break;
-#endif /* HEADING_FIX */
 	case 'I':
 	    if (assign_channel(whoami) && whoami->device->device_type!=NULL)
 		(void)snprintf(phrase, sizeof(phrase), ",I=%s", 
diff --git a/gpsutils.c b/gpsutils.c
index 267042e6..9042b9a5 100644
--- a/gpsutils.c
+++ b/gpsutils.c
@@ -27,12 +27,6 @@ void gps_clear_fix(/*@out@*/struct gps_fix_t *fixp)
     fixp->epd = NAN;
     fixp->eps = NAN;
     fixp->epc = NAN;
-#ifdef HEADING_FIX
-    fixp->heading = NAN;
-#endif /* HEADING_FIX */
-    fixp->pitch = NAN;
-    fixp->roll = NAN;
-    fixp->dip = NAN;
 }
 
 unsigned int gps_valid_fields(/*@in@*/struct gps_fix_t *fixp)
diff --git a/libgps.c b/libgps.c
index ae04e3c7..18727f82 100644
--- a/libgps.c
+++ b/libgps.c
@@ -351,12 +351,6 @@ static void gps_unpack(char *buf, struct gps_data_t *gpsdata)
 				gpsdata->set |= SPEEDERR_SET;
 			    if (isnan(nf.epc)==0)
 				gpsdata->set |= CLIMBERR_SET;
-#ifndef HEADING_FIX
-			    nf.pitch = nf.roll = nf.dip = NAN;
-#else /* HEADING_FIX */
-			    /* there is no support for a TrueNorth source in the O command at this stage, so libgps-based clients that wish to use the heading provided by such a source must send the sequence "OH\n".  N.B. the order is important - "HO\n" will result in heading=NAN.  More work is needed to provide any support for pitch, roll and dip. */
-			    nf.pitch = nf.roll = nf.dip = nf.heading = NAN;
-#endif /* HEADING_FIX */
 			    gpsdata->fix = nf;
 			    (void)strlcpy(gpsdata->tag, tag, MAXTAGLEN+1);
 			    gpsdata->set |= TIME_SET|TIMERR_SET|LATLON_SET|MODE_SET;
diff --git a/nmea_parse.c b/nmea_parse.c
index e5a131a0..07630be7 100644
--- a/nmea_parse.c
+++ b/nmea_parse.c
@@ -512,53 +512,27 @@ static gps_mask_t processTNTHTM(int c UNUSED, char *field[], struct gps_device_t
 
     //gpsd_zero_satellites(&session->gpsdata);
 
-#ifdef HEADING_FIX
-	// these fields are not handled by gps_merge_fix(), so must be written directly to the current fix structure
-#endif /* HEADING_FIX */
-    session->gpsdata.fix.time = timestamp();
-#ifndef HEADING_FIX
+    /*
+     * Heading maps to track.  
+     * Pitch maps to climb.  
+     * Roll maps to speed.
+     * Dip maps to altitude.
+     */
+    session->gpsdata.newdata.time = timestamp();
     session->gpsdata.newdata.track = atof(field[1]);
-#else /* HEADING_FIX */
-    session->gpsdata.fix.heading = atof(field[1]);
-#endif /* HEADING_FIX */
     session->gpsdata.headingStatus = *field[2];
-#ifndef HEADING_FIX
-    mask |= (TRACK_SET | MODE_SET);
-    session->gpsdata.status = STATUS_FIX;	/* could be DGPS_FIX, we can't tell */
-    //session->gpsdata.newdata.mode = MODE_2D;
-    session->gpsdata.newdata.mode = MODE_2D;
-    //session->gpsdata.newdata.mode = MODE_NO_FIX;
-
-    session->gpsdata.newdata.pitch = atof(field[3]);
-#else /* HEADING_FIX */
-    // this device does not provide track, mode, or status - we have to rely on other devices for that!
-//    mask |= (TRACK_SET | MODE_SET);
-//    session->gpsdata.status = STATUS_FIX;	/* could be DGPS_FIX, we can't tell */
-//    session->gpsdata.newdata.mode = MODE_2D;
-    
-    session->gpsdata.fix.pitch = atof(field[3]);
-#endif /* HEADING_FIX */
+    session->gpsdata.newdata.climb = atof(field[3]);
     session->gpsdata.pitchStatus = *field[4];
-
-#ifndef HEADING_FIX
-    session->gpsdata.newdata.roll = atof(field[5]);
-#else /* HEADING_FIX */
-    session->gpsdata.fix.roll = atof(field[5]);
-#endif /* HEADING_FIX */
+    session->gpsdata.newdata.speed = atof(field[5]);
     session->gpsdata.rollStatus = *field[6];
-
-#ifndef HEADING_FIX
     session->gpsdata.newdata.dip = atof(field[7]);
-#else /* HEADING_FIX */
-    session->gpsdata.fix.dip = atof(field[7]);
-#endif /* HEADING_FIX */
+    session->gpsdata.fix.altitude = atof(field[7]);
     session->gpsdata.horzField = atof(field[8]);
+    session->gpsdata.newdata.mode = MODE_2D;
+    mask |= (TRACK_SET | MODE_SET | TRACK_SET | SPEED_SET | CLIMB_SET | ALTITUDE_SET);
+    session->gpsdata.status = STATUS_FIX;	/* could be DGPS_FIX */
 
-#ifndef HEADING_FIX
-    //gpsd_report(5, "Heading %lf  %c.\n", session->gpsdata.fix.track, session->gpsdata.fix.headingStatus);
-#else /* HEADING_FIX */
-    //gpsd_report(5, "Heading %lf  %c.\n", session->gpsdata.fix.heading, session->gpsdata.fix.headingStatus);
-#endif /* HEADING_FIX */
+    gpsd_report(5, "Heading %lf  %c.\n", session->gpsdata.fix.track, session->gpsdata.fix.headingStatus);
     return mask;
 }
 #endif /* TNT_ENABLE */
diff --git a/zodiac.c b/zodiac.c
index 02854e9f..8a6a118a 100644
--- a/zodiac.c
+++ b/zodiac.c
@@ -320,7 +320,7 @@ static void handle1005(struct gps_device_t *session UNUSED)
 	gpsd_report(1, "iode mismatch:%d\n", (getword(13+i) & 4096) ? 1 : 0);
     }
 #endif
-    if (session->gpsdata.fix.mode == MODE_NO_FIX)
+    if (session->gpsdata.newdata.mode == MODE_NO_FIX)
 	session->gpsdata.status = STATUS_NO_FIX;
     else if (numcorrections == 0)
 	session->gpsdata.status = STATUS_FIX;