driver_navcom: Move error math to gpsd_error_model()

The numbers look better now.

1 files changed, 5 insertions, 16 deletions

diff --git a/driver_navcom.c b/driver_navcom.c
index e35e8011..63c37475 100644
--- a/driver_navcom.c
+++ b/driver_navcom.c
@@ -370,8 +370,7 @@ static gps_mask_t handle_0xb1(struct gps_device_t *session)
     /* Resolution of velocity values (2.0^-10) */
 #define VEL_RES (0.0009765625)
     double track;
-    uint8_t fom, gdop, pdop, hdop, vdop, tdop, tfom;
-    double eph;
+    uint8_t gdop, pdop, hdop, vdop, tdop;
     /* This value means "undefined" */
 #define DOP_UNDEFINED (255)
 
@@ -447,20 +446,15 @@ static gps_mask_t handle_0xb1(struct gps_device_t *session)
     session->newdata.climb = vel_up * VEL_RES;
 
     /* Quality indicators */
-    fom = getub(buf, 40);
+    /* UNUSED fom = getub(buf, 40);     * FOM is DRMS */
     gdop = getub(buf, 41);
     pdop = getub(buf, 42);
     hdop = getub(buf, 43);
     vdop = getub(buf, 44);
     tdop = getub(buf, 45);
-    tfom = getub(buf, 46);    /* tfom == 10 * TDOP */
+    /* UNUSED tfom = getub(buf, 46);    * tfom == 10 * TDOP */
 
-    /* Get two-sigma horizontal circular error estimate */
-    eph = fom / 100.0 * 1.96;
-    /* approximate epx and epy errors from it */
-    session->newdata.epx = session->newdata.epy = eph / sqrt(2);
-    /* this next does not seem a correct way to get to seconds */
-    session->newdata.ept = tfom * 1.96; /* Two sigma */
+    /* let gpsd_error_model() do the error estimates */
 
     if (gdop != DOP_UNDEFINED)
 	session->gpsdata.dop.gdop = gdop / 10.0;
@@ -502,7 +496,6 @@ static gps_mask_t handle_0xb1(struct gps_device_t *session)
     gpsd_log(&session->context->errout, LOG_DATA,
 	     "PVT 0xb1: time=%.2f, lat=%.2f lon=%.2f alt=%.f "
 	     "speed=%.2f track=%.2f climb=%.2f mode=%d status=%d "
-	     "epx=%.2f epy=%.2f epv=%.2f "
 	     "gdop=%.2f pdop=%.2f hdop=%.2f vdop=%.2f tdop=%.2f "
 	     "mask={LATLON|ALTITUDE|CLIMB|SPEED|TRACK|TIME|STATUS|MODE|"
 	     "USED|HERR|VERR|TIMERR|DOP}\n",
@@ -515,9 +508,6 @@ static gps_mask_t handle_0xb1(struct gps_device_t *session)
 	     session->newdata.climb,
 	     session->newdata.mode,
 	     session->gpsdata.status,
-	     session->newdata.epx,
-	     session->newdata.epy,
-	     session->newdata.epv,
 	     session->gpsdata.dop.gdop,
 	     session->gpsdata.dop.pdop,
 	     session->gpsdata.dop.hdop,
@@ -890,6 +880,7 @@ static gps_mask_t handle_0xb5(struct gps_device_t *session)
 	 * with those obtained from the PVT report (handle_0xb1).
 	 * The figures from 0xb1 do agree with the values reported
 	 * by Navcom's PC utility */
+        /* let gpsd_error_model() handle this */
 	//double ellips_maj = getled64(buf, 17);
 	//double ellips_min = getled64(buf, 25);
 	//double ellips_azm = getled64(buf, 33);
@@ -897,10 +888,8 @@ static gps_mask_t handle_0xb5(struct gps_device_t *session)
 	double lon_sd = getled64(buf, 49);
 	double alt_sd = getled64(buf, 57);
 	double hrms = sqrt(pow(lat_sd, 2) + pow(lon_sd, 2));
-#endif /*  __UNUSED__ */
         /* Navcom doc unclear, this is likely sep? */
 	session->newdata.sep = rms * 1.96;
-#ifdef __UNUSED__
 	session->newdata.eph = hrms * 1.96;
 	session->newdata.epv = alt_sd * 1.96;
 	mask |= HERR_SET;