MacOS compiler fixes. Oleg's fix for the bilinear interpolation.

  
Geoid-separation code integrated for test but not for production.

6 files changed, 14 insertions, 26 deletions

diff --git a/Makefile.am b/Makefile.am
index 2ab88d74..fa49ead8 100644
--- a/Makefile.am
+++ b/Makefile.am
@@ -62,6 +62,7 @@ libgps_la_SOURCES = \
 	libgps.c \
 	packet.c \
 	gpsutils.c \
+	geoid.c \
 	sirf.c \
 	report.c
 
diff --git a/TODO b/TODO
index 80121927..215f5ece 100644
--- a/TODO
+++ b/TODO
@@ -34,27 +34,7 @@ the receive FIFO.  You'll have to experiment.
 
 ** Supply geoidal separation for SiRF packet 2
 
-Peter H. Dana <pdana@pdana.com>:
-> 	The classic bi-linear interpolation method is published in Table 5.3
-> of DMA TR8350.2 Supplement B (page 5.3)
-> 
-> Np(lat, lon) = a0 +a1*X + a2*Y +a3*X*Y
-> 
-> a0 = N1
-> a1 = N2-N1
-> a2 = N4-N1
-> a3=N1+N3-N2-N4
-> 
-> X= (lon-lon1)/(lon2-lon1)
-> Y = (lat-lat1)/(lat2-lat1)
-> Whre 
-> N1 (lat1, lon1) , N2 (lat1, lon2), N3( lat2,lon2), N4 (lat2, lon1) are known
-> geoid heights 
-> 
-> Rather than deal with interpolation from a table, most folks use the EGM96
-> coefficients and the formulas for direct computation of N at any point shown
-> in NIMA TR8350.2
-> http://earth-info.nga.mil/GandG/tr8350_2.html
+It's there for testing now.
 
 ** Hotplug interface problems
 
diff --git a/drivers.c b/drivers.c
index 0ac24e9c..fa8c023f 100644
--- a/drivers.c
+++ b/drivers.c
@@ -92,6 +92,7 @@ struct gps_type_t fv18 = {
     nmea_parse_input,	/* how to interpret a packet */
     nmea_write_rtcm,	/* write RTCM data straight */
     NULL,		/* no speed switcher */
+    NULL,		/* no mode switcher */
     NULL,		/* no wrapup */
     1,			/* updates every second */
 };
diff --git a/geoid.c b/geoid.c
index f709dd55..e119eb1d 100644
--- a/geoid.c
+++ b/geoid.c
@@ -5,6 +5,7 @@
  */
 
 #include <math.h>
+#include "gpsd.h"
 
 static double bilinear(double x1, double y1, double x2, double y2, double x, double y, double z11, double z12, double z21, double z22)
 {
@@ -16,7 +17,7 @@ static double bilinear(double x1, double y1, double x2, double y2, double x, dou
 
  delta=(y2-y1)*(x2-x1);
 
- return (z22*(y-y1)*(x-x1)+z21*(y2-y)*(x-x1)+z12*(y-y1)*(x2-x)+z11*(y2-y)*(x2-x))/delta;
+ return (z22*(y-y1)*(x-x1)+z12*(y2-y)*(x-x1)+z21*(y-y1)*(x2-x)+z11*(y2-y)*(x2-x))/delta;
 }
 
 double wgs84_separation(double lat, double lon)
@@ -63,6 +64,7 @@ double wgs84_separation(double lat, double lon)
 	);
 }
 	 
+#ifdef TESTMAIN
 #include <stdio.h>
 #include <stdlib.h>
 
@@ -95,4 +97,4 @@ int main(int argc, char **argv)
 
     return 0;
 }
-
+#endif /* TESTMAIN */
diff --git a/gpsd.c b/gpsd.c
index 4ff6daf8..cdbf3849 100644
--- a/gpsd.c
+++ b/gpsd.c
@@ -900,8 +900,8 @@ int main(int argc, char *argv[])
 	    for (cfd = 0; cfd < FD_SETSIZE; cfd++) {
 		/* some listeners may be in watcher mode */
 		if (IS_WATCHER(cfd)) {
-		    device->poll_times[cfd] = timestamp();
 		    char cmds[4] = ""; 
+		    device->poll_times[cfd] = timestamp();
 		    if (changed &~ ONLINE_SET) {
 			if (changed & LATLON_SET)
 			    strcat(cmds, "o");
diff --git a/sirf.c b/sirf.c
index daa13ba0..82355dfd 100644
--- a/sirf.c
+++ b/sirf.c
@@ -106,7 +106,7 @@ static int sirf_to_nmea(int ttyfd, int speed)
  * 
  * SiRF message 2 (Measure Navigation Data Out) gives us everything we want
  * except PDOP, VDOP, and altitude with respect to MSL.  SiRF message 41
- * (Geodetic Navigation Information) adds MSLfix.altitude, but many of its
+ * (Geodetic Navigation Information) adds MSL altitude, but many of its
  * other fields are garbage in firmware versions before 232.  So...we
  * use all the data from message 2 *except* altitude, which we get from 
  * message 41.
@@ -166,8 +166,11 @@ int sirf_parse(struct gps_device_t *session, unsigned char *buf, int len)
 	    phi = atan2(z + e_2*b*pow(sin(theta),3),p - e2*a*pow(cos(theta),3));
 	    n = a / sqrt(1.0 - e2*pow(sin(phi),2));
 	    h = p / cos(phi) - n;
+	    gpsd_report(4, "Height above ellipsoid: %f\n", h);
 	    session->gpsdata.fix.latitude = phi * RAD_2_DEG;
 	    session->gpsdata.fix.longitude = lambda * RAD_2_DEG;
+	    gpsd_report(4, "Height with interpolated correction: %f\n", 
+			h+wgs84_separation(session->gpsdata.fix.latitude, session->gpsdata.fix.longitude));
 	    /* velocity computation */
 	    vnorth = -vx*sin(phi)*cos(lambda)-vy*sin(phi)*sin(lambda)+vz*cos(phi);
 	    veast = -vx*sin(lambda)+vy*cos(lambda);
@@ -400,7 +403,8 @@ int sirf_parse(struct gps_device_t *session, unsigned char *buf, int len)
 	    /* skip 4 bytes of altitude from ellipsoid */
 	    mask = TIME_SET | LATLON_SET | STATUS_SET | MODE_SET;
 	}
-	session->gpsdata.fix.altitude = getl(31)*1e-2;
+	session->gpsdata.fix.altitude = getl(35)*1e-2;
+	gpsd_report(4, "Height above MSL: %f\n", session->gpsdata.fix.altitude);
 	if (session->driverstate & SIRF_GE_232) {
 	    /* skip 1 byte of map datum */
 	    session->gpsdata.fix.speed = getw(36)*1e-2;