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| author | Eric S. Raymond <esr@thyrsus.com> | 2006-07-21 17:20:24 +0000 |
|---|---|---|
| committer | Eric S. Raymond <esr@thyrsus.com> | 2006-07-21 17:20:24 +0000 |
| commit | d879f81ce6e0962d53af6dac12df5ed382bde444 (patch) | |
| tree | c34206ffae0ea9ad27a37845c6dcb39877bf0016 /gpsutils.c | |
| parent | 60f4dc1d4ebc2d6b092ecae31c00721334de4c08 (diff) | |
| download | gpsd-d879f81ce6e0962d53af6dac12df5ed382bde444.tar.gz | |
Fixes by Mick Durkin...
...including one that has been hosing DOP computatation from SiRF reports.
Diffstat (limited to 'gpsutils.c')
| -rw-r--r-- | gpsutils.c | 12 |
1 files changed, 8 insertions, 4 deletions
@@ -371,8 +371,8 @@ static int invert(double mat[4][4], /*@out@*/double inverse[4][4]) + mat[0][2]*Det3_123_013 - mat[0][3]*Det3_123_012; - // ??? Should the test be made: fabs(det) <= epsilon ??? - if (det == 0.0) + // Very small determinants probably reflect floating-point fuzz near zero + if (fabs(det) == 0.0) return 0; inverse[0][0] = Det3_123_123 / det; @@ -408,7 +408,7 @@ gps_mask_t dop(struct gps_data_t *gpsdata) #ifdef __UNUSED__ gpsd_report(0, "Satellite picture:\n"); - for (k = 0; k < gpsdata->device_type.channels; k++) { + for (k = 0; k < MAXCHANNELS; k++) { if (gpsdata->used[k]) gpsd_report(0, "az: %d el: %d SV: %d\n", gpsdata->azimuth[k], gpsdata->elevation[k], gpsdata->used[k]); @@ -416,7 +416,7 @@ gps_mask_t dop(struct gps_data_t *gpsdata) #endif /* __UNUSED__ */ for (n = k = 0; k < gpsdata->satellites_used; k++) { - if (gpsdata->used[k] != 0) + if (gpsdata->used[k] == 0) continue; satpos[n][0] = sin(gpsdata->azimuth[k]*DEG_2_RAD) * cos(gpsdata->elevation[k]*DEG_2_RAD); @@ -454,6 +454,10 @@ gps_mask_t dop(struct gps_data_t *gpsdata) if (invert(prod, inv)) { #ifdef __UNUSED__ + /* + * Note: this will print garbage unless all the subdeterminants + * are computed in the invert() function. + */ gpsd_report(0, "inverse:\n"); for (k = 0; k < 4; k++) { gpsd_report(0, "%f %f %f %f\n", |