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| author | Gary E. Miller <gem@rellim.com> | 2019-04-22 21:00:56 -0700 |
|---|---|---|
| committer | Gary E. Miller <gem@rellim.com> | 2019-04-22 21:00:56 -0700 |
| commit | 0a3a4475219418fdc4b329bf74763568c84049db (patch) | |
| tree | 498f3c734577de2b772b240d19e7f1c6206c84c0 /driver_ubx.c | |
| parent | a705c87ecb5f08883236bdb798ac6a0b6ef81b5f (diff) | |
| download | gpsd-0a3a4475219418fdc4b329bf74763568c84049db.tar.gz | |
driver_ubx: More complete decode of UBX-NAV-POSLLH.
Changed no regressions....
Diffstat (limited to 'driver_ubx.c')
| -rw-r--r-- | driver_ubx.c | 14 |
1 files changed, 12 insertions, 2 deletions
diff --git a/driver_ubx.c b/driver_ubx.c index d80aabde..1a0f3e1e 100644 --- a/driver_ubx.c +++ b/driver_ubx.c @@ -190,6 +190,8 @@ ubx_msg_nav_hpposecef(struct gps_device_t *session, unsigned char *buf, /** * High Precision Geodetic Position Solution * UBX-NAV-HPPOSLLH, Class 1, ID x14 + * + * No mode, so limited usefulness. */ static gps_mask_t ubx_msg_nav_hpposllh(struct gps_device_t *session, unsigned char *buf, @@ -212,6 +214,8 @@ ubx_msg_nav_hpposllh(struct gps_device_t *session, unsigned char *buf, session->newdata.eph = (double)(getleu32(buf, 28) / 10000.0); /* Vertical accuracy estimate in mm, unknown est type */ session->newdata.epv = (double)(getleu32(buf, 32) / 10000.0); + gpsd_log(&session->context->errout, LOG_DATA, + "UBX-NAV-HPPOSECEF: version %d\n", version); return mask; } @@ -628,21 +632,27 @@ static void ubx_msg_nav_timels(struct gps_device_t *session, /** * Geodetic position solution message * UBX-NAV-POSLLH, Class 1, ID 2 + * + * No mode, so limited usefulness */ static gps_mask_t ubx_msg_nav_posllh(struct gps_device_t *session, unsigned char *buf, size_t data_len UNUSED) { + gps_mask_t mask = 0; + if (28 > data_len) { gpsd_log(&session->context->errout, LOG_WARN, "Runt NAV-POSLLH message, payload len %zd", data_len); return 0; } - gps_mask_t mask = ONLINE_SET | HERR_SET | VERR_SET; + mask = ONLINE_SET | HERR_SET | VERR_SET | LATLON_SET | ALTITUDE_SET; session->driver.ubx.iTOW = getles32(buf, 0); - /* FIXME: should also get time, lat/lon/alt */ + session->newdata.longitude = 1e-7 * (int32_t)getles32(buf, 4); + session->newdata.latitude = 1e-7 * (int32_t)getles32(buf, 8); + session->newdata.altitude = 1e-3 * (int32_t)getles32(buf, 16); /* Horizontal accuracy estimate in mm, unknown type */ session->newdata.eph = (double)(getleu32(buf, 20) / 1000.0); /* Vertical accuracy estimate in mm, unknown type */ |