Fix the broken handling of our two compass device types in the NMEA driver.

It could never have worked right because there was no mask flag to tell a 
caller that the compass data was valid. TNT has been broken for years; 
why we never got any complaints about the Oceanserver is more of a mystery.

Since it was all broken anyway I renamed and cleaned up that substructure
in the union.  Nothing fills in the "yaw" slots yet with anything but NaN, 
but it's got pitch and roll, so... 

All regression tests pass.

1 files changed, 46 insertions, 41 deletions

diff --git a/driver_nmea.c b/driver_nmea.c
index ce566da5..86859813 100644
--- a/driver_nmea.c
+++ b/driver_nmea.c
@@ -685,26 +685,30 @@ static gps_mask_t processTNTHTM(int c UNUSED, char *field[], struct gps_device_t
 
     //gpsd_zero_satellites(&session->gpsdata);
 
-    /*
-     * Heading maps to track.
-     * Pitch maps to climb.
-     * Roll maps to speed.
-     * Dip maps to altitude.
-     */
     session->newdata.time = timestamp();
-    session->newdata.track = atof(field[1]);
-    session->gpsdata.compass.headingStatus = *field[2];
-    session->newdata.climb = atof(field[3]);
-    session->gpsdata.compass.pitchStatus = *field[4];
-    session->newdata.speed = atof(field[5]);
-    session->gpsdata.compass.rollStatus = *field[6];
-    session->newdata.altitude = atof(field[7]);
-    session->gpsdata.compass.horzField = atof(field[8]);
-    session->newdata.mode = MODE_3D;
-    mask |= (STATUS_IS | MODE_IS | TRACK_IS | SPEED_IS | CLIMB_IS | ALTITUDE_IS);
-    session->gpsdata.status = STATUS_FIX;	/* could be DGPS_FIX */
-
-    gpsd_report(LOG_RAW, "Heading %lf  %c.\n", session->newdata.track, session->gpsdata.compass.headingStatus);
+    session->newdata.attitude.heading = atof(field[1]);
+    session->gpsdata.attitude.headingStatus = *field[2];
+    session->newdata.attitude.pitch = atof(field[3]);
+    session->gpsdata.attitude.pitchStatus = *field[4];
+    session->newdata.attitude.roll = atof(field[5]);
+    session->gpsdata.attitude.rollStatus = *field[6];
+    session->newdata.attitude.yaw = NaN;
+    session->gpsdata.attitude.yawStatus = '\0';
+    session->gpsdata.attitude.dip = atof(field[7]);
+    session->gpsdata.attitude.horzField = NaN;
+    session->gpsdata.attitude.magnetic_length = NaN;
+    session->gpsdata.attitude.magnetic_field_x = NaN;
+    session->gpsdata.attitude.magnetic_field_y = NaN;
+    session->gpsdata.attitude.magnetic_field_z = NaN;
+    session->gpsdata.attitude.acceleration_length = NaN;
+    session->gpsdata.attitude.acceleration_field_x = NaN;
+    session->gpsdata.attitude.acceleration_field_y = NaN;
+    session->gpsdata.attitude.acceleration_field_z = NaN;
+    session->gpsdata.attitude.gyro_output_x = NaN;
+    session->gpsdata.attitude.gyro_output_y = NaN;
+    mask |= ATT_IS;
+
+    gpsd_report(LOG_RAW, "Heading %lf  %c.\n", session->newdata.attitude.heading, session->gpsdata.attitude.headingStatus);
     return mask;
 }
 #endif /* TNT_ENABLE */
@@ -738,32 +742,33 @@ static gps_mask_t processOHPR(int c UNUSED, char *field[], struct gps_device_t *
     //gpsd_zero_satellites(&session->gpsdata);
 
     /*
-     * Heading maps to track.
-     * Pitch maps to climb.
-     * Roll maps to speed.
      * Depth maps to altitude.
      */
     session->newdata.time = timestamp();
-    session->newdata.track = atof(field[1]);
-    session->newdata.climb = atof(field[2]);
-    session->newdata.speed = atof(field[3]);
-    session->gpsdata.compass.temperature = atof(field[4]);
+    session->newdata.attitude.heading = atof(field[1]);
+    session->attitude.headingStatus = '\0';
+    session->newdata.attitude.pitch = atof(field[2]);
+    session->attitude.pitchStatus = '\0';
+    session->newdata.attitude.roll = atof(field[3]);
+    session->attitude.rollStatus = '\0';
+    session->newdata.attitude.yaw = '\0';
+    session->attitude.yawStatus = '\0';
+    session->newdata.attitude.dip = NaN;
+    session->gpsdata.attitude.temperature = atof(field[4]);
     session->newdata.altitude = atof(field[5]);
-    session->gpsdata.compass.magnetic_length = atof(field[6]);
-    session->gpsdata.compass.magnetic_field_x = atof(field[7]);
-    session->gpsdata.compass.magnetic_field_y = atof(field[8]);
-    session->gpsdata.compass.magnetic_field_z = atof(field[9]);
-    session->gpsdata.compass.acceleration_length = atof(field[10]);
-    session->gpsdata.compass.acceleration_field_x = atof(field[11]);
-    session->gpsdata.compass.acceleration_field_y = atof(field[12]);
-    session->gpsdata.compass.acceleration_field_z = atof(field[13]);
-    session->gpsdata.compass.gyro_output_x = atof(field[15]);
-    session->gpsdata.compass.gyro_output_y = atof(field[16]);
-    session->newdata.mode = MODE_3D;
-    mask |= (STATUS_IS | MODE_IS | TRACK_IS | SPEED_IS | CLIMB_IS | ALTITUDE_IS);
-    session->gpsdata.status = STATUS_FIX;	/* could be DGPS_FIX */
-
-    gpsd_report(LOG_RAW, "Heading %lf.\n", session->newdata.track);
+    session->gpsdata.attitude.magnetic_length = atof(field[6]);
+    session->gpsdata.attitude.magnetic_field_x = atof(field[7]);
+    session->gpsdata.attitude.magnetic_field_y = atof(field[8]);
+    session->gpsdata.attitude.magnetic_field_z = atof(field[9]);
+    session->gpsdata.attitude.acceleration_length = atof(field[10]);
+    session->gpsdata.attitude.acceleration_field_x = atof(field[11]);
+    session->gpsdata.attitude.acceleration_field_y = atof(field[12]);
+    session->gpsdata.attitude.acceleration_field_z = atof(field[13]);
+    session->gpsdata.attitude.gyro_output_x = atof(field[15]);
+    session->gpsdata.attitude.gyro_output_y = atof(field[16]);
+    mask |= (ATT_IS | ALTITUDE_IS);
+
+    gpsd_report(LOG_RAW, "Heading %lf.\n", session->newdata.attitude.heading);
     return mask;
 }
 #endif /* OCEANSERVER_ENABLE */