diff options
| author | Gary E. Miller <gem@rellim.com> | 2019-04-22 18:44:09 -0700 |
|---|---|---|
| committer | Gary E. Miller <gem@rellim.com> | 2019-04-22 18:44:09 -0700 |
| commit | 93ded56dc03d4e59c6659967fc363912a0d278cb (patch) | |
| tree | 7fbbea0a31b0d61548a7378b3579c2c36c3ab603 /driver_ubx.c | |
| parent | 2e261f2ad561bd03206f8e9d1f6fddf838f4a9ce (diff) | |
| download | gpsd-93ded56dc03d4e59c6659967fc363912a0d278cb.tar.gz | |
driver_ubx: Fix minor TOW calc in UBX-NAV-SOL.
Changing the length of the cycle changed epc in some regressions.
Diffstat (limited to 'driver_ubx.c')
| -rw-r--r-- | driver_ubx.c | 27 |
1 files changed, 16 insertions, 11 deletions
diff --git a/driver_ubx.c b/driver_ubx.c index 741cfad1..56b8940b 100644 --- a/driver_ubx.c +++ b/driver_ubx.c @@ -360,11 +360,16 @@ ubx_msg_nav_sol(struct gps_device_t *session, unsigned char *buf, mask = 0; #define DATE_VALID (UBX_SOL_VALID_WEEK | UBX_SOL_VALID_TIME) if ((flags & DATE_VALID) == DATE_VALID) { - unsigned short gw; - unsigned int tow; - tow = (unsigned int)getleu32(buf, 0); - gw = (unsigned short)getles16(buf, 8); - session->newdata.time = gpsd_gpstime_resolve(session, gw, tow / 1000.0); + unsigned short week; + uint32_t iTOW; /* integer part of TOW in ms */ + int32_t fTOW; /* fractional part of TOW in ns */ + double TOW; /* complete TOW in seconds */ + + iTOW = getleu32(buf, 0); /* GPS TOW in ms */ + fTOW = getles32(buf, 4); /* Fractional part of TOW */ + TOW = (iTOW * 1e-3) + (fTOW * 1e-9); + week = (unsigned short)getles16(buf, 8); + session->newdata.time = gpsd_gpstime_resolve(session, week, TOW); mask |= TIME_SET | NTPTIME_IS | GOODTIME_IS; } #undef DATE_VALID @@ -426,7 +431,7 @@ ubx_msg_nav_sol(struct gps_device_t *session, unsigned char *buf, mask |= MODE_SET | STATUS_SET; gpsd_log(&session->context->errout, LOG_DATA, - "UBX_NAV_SOL: time=%.2f lat=%.2f lon=%.2f alt=%.2f track=%.2f\n" + "UBX-NAV-SOL: time=%.2f lat=%.2f lon=%.2f alt=%.2f track=%.2f\n" " speed=%.2f climb=%.2f mode=%d status=%d used=%d\n", session->newdata.time, session->newdata.latitude, @@ -666,16 +671,16 @@ ubx_msg_nav_timegps(struct gps_device_t *session, unsigned char *buf, if ((valid & VALID_TIME) == VALID_TIME) { #undef VALID_TIME uint16_t week; - double iTOW; /* integer part of TOW in ms */ - double fTOW; /* fractional part of TOW in ns */ + uint32_t iTOW; /* integer part of TOW in ms */ + int32_t fTOW; /* fractional part of TOW in ns */ double TOW; /* complete TOW in seconds */ double tAcc; /* Time Accuracy Estimate in ns */ - iTOW = (double)getleu32(buf, 0); /* GPS TOW in ms */ - fTOW = (double)getles32(buf, 4); /* Fractional part of TOW */ + iTOW = getleu32(buf, 0); /* GPS TOW in ms */ + fTOW = getles32(buf, 4); /* Fractional part of TOW */ + TOW = (iTOW * 1e-3) + (fTOW * 1e-9); week = getles16(buf, 8); tAcc = (double)getleu32(buf, 12); /* tAcc in ms */ - TOW = (iTOW * 1e-3) + (fTOW * 1e-9); session->newdata.time = gpsd_gpstime_resolve(session, week, TOW); session->newdata.ept = tAcc * 1e-9; mask |= (TIME_SET | NTPTIME_IS); |