ATT: centralize clearing of the attitude data.

This showed up a bug where rtcm3_unpack() was not clearing its
rtcm3 data, which is a union with the attitude data.

7 files changed, 33 insertions, 81 deletions

diff --git a/driver_nmea0183.c b/driver_nmea0183.c
index 5604e045..79d31afa 100644
--- a/driver_nmea0183.c
+++ b/driver_nmea0183.c
@@ -1125,26 +1125,6 @@ static gps_mask_t processHDT(int c UNUSED, char *field[],
     /* good data */
     session->gpsdata.attitude.heading = heading;
 
-    session->gpsdata.attitude.mag_st = '\0';
-    session->gpsdata.attitude.pitch = NAN;
-    session->gpsdata.attitude.pitch_st = '\0';
-    session->gpsdata.attitude.roll = NAN;
-    session->gpsdata.attitude.roll_st = '\0';
-    session->gpsdata.attitude.yaw = NAN;
-    session->gpsdata.attitude.yaw_st = '\0';
-    session->gpsdata.attitude.dip = NAN;
-    session->gpsdata.attitude.mag_len = NAN;
-    session->gpsdata.attitude.mag_x = NAN;
-    session->gpsdata.attitude.mag_y = NAN;
-    session->gpsdata.attitude.mag_z = NAN;
-    session->gpsdata.attitude.acc_len = NAN;
-    session->gpsdata.attitude.acc_x = NAN;
-    session->gpsdata.attitude.acc_y = NAN;
-    session->gpsdata.attitude.acc_z = NAN;
-    session->gpsdata.attitude.gyro_x = NAN;
-    session->gpsdata.attitude.gyro_y = NAN;
-    session->gpsdata.attitude.temp = NAN;
-    session->gpsdata.attitude.depth = NAN;
     mask |= (ATTITUDE_SET);
 
     gpsd_log(&session->context->errout, LOG_RAW,
@@ -1304,21 +1284,8 @@ static gps_mask_t processTNTHTM(int c UNUSED, char *field[],
     session->gpsdata.attitude.pitch_st = *field[4];
     session->gpsdata.attitude.roll = safe_atof(field[5]);
     session->gpsdata.attitude.roll_st = *field[6];
-    session->gpsdata.attitude.yaw = NAN;
-    session->gpsdata.attitude.yaw_st = '\0';
     session->gpsdata.attitude.dip = safe_atof(field[7]);
-    session->gpsdata.attitude.mag_len = NAN;
     session->gpsdata.attitude.mag_x = safe_atof(field[8]);
-    session->gpsdata.attitude.mag_y = NAN;
-    session->gpsdata.attitude.mag_z = NAN;
-    session->gpsdata.attitude.acc_len = NAN;
-    session->gpsdata.attitude.acc_x = NAN;
-    session->gpsdata.attitude.acc_y = NAN;
-    session->gpsdata.attitude.acc_z = NAN;
-    session->gpsdata.attitude.gyro_x = NAN;
-    session->gpsdata.attitude.gyro_y = NAN;
-    session->gpsdata.attitude.temp = NAN;
-    session->gpsdata.attitude.depth = NAN;
     mask |= (ATTITUDE_SET);
 
     gpsd_log(&session->context->errout, LOG_RAW,
@@ -1415,14 +1382,8 @@ static gps_mask_t processOHPR(int c UNUSED, char *field[],
     mask = ONLINE_SET;
 
     session->gpsdata.attitude.heading = safe_atof(field[1]);
-    session->gpsdata.attitude.mag_st = '\0';
     session->gpsdata.attitude.pitch = safe_atof(field[2]);
-    session->gpsdata.attitude.pitch_st = '\0';
     session->gpsdata.attitude.roll = safe_atof(field[3]);
-    session->gpsdata.attitude.roll_st = '\0';
-    session->gpsdata.attitude.yaw = NAN;
-    session->gpsdata.attitude.yaw_st = '\0';
-    session->gpsdata.attitude.dip = NAN;
     session->gpsdata.attitude.temp = safe_atof(field[4]);
     session->gpsdata.attitude.depth = safe_atof(field[5]) / METERS_TO_FEET;
     session->gpsdata.attitude.mag_len = safe_atof(field[6]);
diff --git a/driver_nmea2000.c b/driver_nmea2000.c
index 38b077e5..cc8a297c 100644
--- a/driver_nmea2000.c
+++ b/driver_nmea2000.c
@@ -1057,26 +1057,6 @@ static gps_mask_t hnd_127250(unsigned char *bu, int len, PGN *pgn, struct gps_de
         session->gpsdata.attitude.heading += aux * RAD_2_DEG * 0.0001;
     }
 //  printf("ATT 2:%8.3f %6x\n",session->gpsdata.attitude.heading, aux);
-    session->gpsdata.attitude.mag_st = '\0';
-    session->gpsdata.attitude.pitch = NAN;
-    session->gpsdata.attitude.pitch_st = '\0';
-    session->gpsdata.attitude.roll = NAN;
-    session->gpsdata.attitude.roll_st = '\0';
-    session->gpsdata.attitude.yaw = NAN;
-    session->gpsdata.attitude.yaw_st = '\0';
-    session->gpsdata.attitude.dip = NAN;
-    session->gpsdata.attitude.mag_len = NAN;
-    session->gpsdata.attitude.mag_x = NAN;
-    session->gpsdata.attitude.mag_y = NAN;
-    session->gpsdata.attitude.mag_z = NAN;
-    session->gpsdata.attitude.acc_len = NAN;
-    session->gpsdata.attitude.acc_x = NAN;
-    session->gpsdata.attitude.acc_y = NAN;
-    session->gpsdata.attitude.acc_z = NAN;
-    session->gpsdata.attitude.gyro_x = NAN;
-    session->gpsdata.attitude.gyro_y = NAN;
-    session->gpsdata.attitude.temp = NAN;
-    session->gpsdata.attitude.depth = NAN;
 
     gpsd_log(&session->context->errout, LOG_DATA,
 	     "pgn %6d(%3d):\n", pgn->pgn, session->driver.nmea2000.unit);
@@ -1103,25 +1083,6 @@ static gps_mask_t hnd_128267(unsigned char *bu, int len, PGN *pgn, struct gps_de
 {
     print_data(session->context, bu, len, pgn);
 
-    session->gpsdata.attitude.heading = NAN;
-    session->gpsdata.attitude.pitch = NAN;
-    session->gpsdata.attitude.pitch_st = '\0';
-    session->gpsdata.attitude.roll = NAN;
-    session->gpsdata.attitude.roll_st = '\0';
-    session->gpsdata.attitude.yaw = NAN;
-    session->gpsdata.attitude.yaw_st = '\0';
-    session->gpsdata.attitude.dip = NAN;
-    session->gpsdata.attitude.mag_len = NAN;
-    session->gpsdata.attitude.mag_x = NAN;
-    session->gpsdata.attitude.mag_y = NAN;
-    session->gpsdata.attitude.mag_z = NAN;
-    session->gpsdata.attitude.acc_len = NAN;
-    session->gpsdata.attitude.acc_x = NAN;
-    session->gpsdata.attitude.acc_y = NAN;
-    session->gpsdata.attitude.acc_z = NAN;
-    session->gpsdata.attitude.gyro_x = NAN;
-    session->gpsdata.attitude.gyro_y = NAN;
-    session->gpsdata.attitude.temp = NAN;
     session->gpsdata.attitude.depth = getleu32(bu, 1) *.01;
 
     gpsd_log(&session->context->errout, LOG_DATA,
diff --git a/driver_rtcm3.c b/driver_rtcm3.c
index 91e6ab5b..07e8907c 100644
--- a/driver_rtcm3.c
+++ b/driver_rtcm3.c
@@ -94,6 +94,7 @@ void rtcm3_unpack(const struct gps_context_t *context,
     else					\
 	fld.rangediff = temp * PSEUDORANGE_DIFF_RESOLUTION;
 
+    memset(rtcm, 0, sizeof(struct rtcm3_t));
     //assert(ugrab(8) == 0xD3);
     //assert(ugrab(6) == 0x00);
     ugrab(14);
diff --git a/gps.h b/gps.h
index 04ada201..fce26ea1 100644
--- a/gps.h
+++ b/gps.h
@@ -2113,8 +2113,9 @@ int json_oscillator_read(const char *buf, struct gps_data_t *,
 
 extern void libgps_trace(int errlevel, const char *, ...);
 
-extern void gps_clear_fix(struct gps_fix_t *);
+extern void gps_clear_att(struct attitude_t *);
 extern void gps_clear_dop( struct dop_t *);
+extern void gps_clear_fix(struct gps_fix_t *);
 extern void gps_merge_fix(struct gps_fix_t *, gps_mask_t, struct gps_fix_t *);
 extern void gps_enable_debug(int, FILE *);
 extern const char *gps_maskdump(gps_mask_t);
diff --git a/gpsutils.c b/gpsutils.c
index d13cff73..3070ca59 100644
--- a/gpsutils.c
+++ b/gpsutils.c
@@ -265,6 +265,28 @@ void gps_clear_fix(struct gps_fix_t *fixp)
     fixp->ecef.vAcc = NAN;
 }
 
+void gps_clear_att(struct attitude_t *attp)
+/* stuff an attitude structure with recognizable out-of-band values */
+{
+    memset(attp, 0, sizeof(struct attitude_t));
+    attp->pitch = NAN;
+    attp->roll = NAN;
+    attp->yaw = NAN;
+    attp->dip = NAN;
+    attp->mag_len = NAN;
+    attp->mag_x = NAN;
+    attp->mag_y = NAN;
+    attp->mag_z = NAN;
+    attp->acc_len = NAN;
+    attp->acc_x = NAN;
+    attp->acc_y = NAN;
+    attp->acc_z = NAN;
+    attp->gyro_x = NAN;
+    attp->gyro_y = NAN;
+    attp->temp = NAN;
+    attp->depth = NAN;
+}
+
 void gps_clear_dop( struct dop_t *dop)
 {
     dop->xdop = dop->ydop = dop->vdop = dop->tdop = dop->hdop = dop->pdop =
diff --git a/libgps_core.c b/libgps_core.c
index e02ff1b9..795a9018 100644
--- a/libgps_core.c
+++ b/libgps_core.c
@@ -111,8 +111,9 @@ int gps_open(const char *host,
     gpsdata->set = 0;
     gpsdata->status = STATUS_NO_FIX;
     gpsdata->satellites_used = 0;
-    gps_clear_fix(&(gpsdata->fix));
+    gps_clear_att(&(gpsdata->attitude));
     gps_clear_dop(&(gpsdata->dop));
+    gps_clear_fix(&(gpsdata->fix));
 
     return status;
 }
diff --git a/libgpsd_core.c b/libgpsd_core.c
index 3678a850..c33c14b8 100644
--- a/libgpsd_core.c
+++ b/libgpsd_core.c
@@ -326,6 +326,7 @@ void gpsd_init(struct gps_device_t *session, struct gps_context_t *context,
     gps_clear_fix(&session->newdata);
     gps_clear_fix(&session->oldfix);
     session->gpsdata.set = 0;
+    gps_clear_att(&session->gpsdata.attitude);
     gps_clear_dop(&session->gpsdata.dop);
     session->gpsdata.epe = NAN;
     session->mag_var = NAN;
@@ -420,6 +421,8 @@ void gpsd_clear(struct gps_device_t *session)
     lexer_init(&session->lexer);
     session->lexer.errout = session->context->errout;
     // session->gpsdata.online = 0;
+    gps_clear_att(&session->gpsdata.attitude);
+    gps_clear_dop(&session->gpsdata.dop);
     gps_clear_fix(&session->gpsdata.fix);
     session->gpsdata.status = STATUS_NO_FIX;
     session->gpsdata.separation = NAN;
@@ -1442,8 +1445,10 @@ gps_mask_t gpsd_poll(struct gps_device_t *session)
 #endif /* NOFLOATS_ENABLE */
 
 	/* copy/merge device data into staging buffers */
-	if ((session->gpsdata.set & CLEAR_IS) != 0)
+	if ((session->gpsdata.set & CLEAR_IS) != 0) {
 	    gps_clear_fix(&session->gpsdata.fix);
+            gps_clear_att(&session->gpsdata.attitude);
+        }
 	/* don't downgrade mode if holding previous fix */
 	if (session->gpsdata.fix.mode > session->newdata.mode)
 	    session->gpsdata.set &= ~MODE_SET;