Use the data from Skytraq PSTI,030 sentence.

This duplicates, but improves on the accuracy of GPVTG.
Also add a bit on PSTI,001 and PSTI,032

1 files changed, 11 insertions, 10 deletions

diff --git a/test/daemon/skytraq-fix.log.chk b/test/daemon/skytraq-fix.log.chk
index ba09fad0..867e2074 100644
--- a/test/daemon/skytraq-fix.log.chk
+++ b/test/daemon/skytraq-fix.log.chk
@@ -11,16 +11,17 @@ $GPZDA,232712.000,28,03,2016,00,00*5D
 $GPGST,232712.000,,,,,,,*4E

 {"class":"GST","time":"2016-03-31T16:05:44.000Z"}

 $PSTI,030,232712.000,A,4404.1237962,N,12118.8472460,W,1132.560,0.00,0.03,0.00,280316,A,0.0,0.0*30

+{"class":"TPV","mode":3,"time":"2016-03-28T23:27:12.000Z","ept":0.005,"lat":44.068729937,"lon":-121.314120767,"alt":1132.560,"epv":147.200,"track":0.0000,"speed":0.030,"climb":0.000}

 $GPGGA,232713.000,4404.1237969,N,12118.8472448,W,2,05,5.1,1132.560,M,-20.300,M,,0000*5B

 $GPGLL,4404.1237969,N,12118.8472448,W,232713.000,A,D*47

 $GPGSA,A,3,30,28,09,11,17,,,,,,,,8.2,5.1,6.4*38

 $GPRMC,232713.000,A,4404.1237969,N,12118.8472448,W,000.0,159.2,280316,,,D*71

-{"class":"TPV","mode":3,"time":"2016-03-28T23:27:13.000Z","ept":0.005,"lat":44.068729948,"lon":-121.314120747,"alt":1132.560,"epv":36.800,"track":159.2000,"speed":0.000,"climb":0.000,"epc":184.00}

 $GPVTG,159.2,T,,M,000.0,N,000.0,K,D*07

 $GPZDA,232713.000,28,03,2016,00,00*5C

 $GPGST,232713.000,1.3,105.1,9.1,-40.9,0.3,0.3,0.6*78

 {"class":"GST","time":"2016-03-31T16:05:46.000Z","rms":1.300,"major":105.100,"minor":9.100,"orient":-40.900,"lat":0.300,"lon":0.300,"alt":0.600}

 $PSTI,030,232713.000,A,4404.1237969,N,12118.8472448,W,1132.560,-0.00,0.03,0.00,280316,D,0.0,0.0*18

+{"class":"TPV","mode":3,"time":"2016-03-28T23:27:13.000Z","ept":0.005,"lat":44.068729948,"lon":-121.314120747,"alt":1132.560,"epv":36.800,"track":-0.0000,"speed":0.030,"climb":0.000,"epc":184.00}

 $GPGGA,232714.000,4404.1237959,N,12118.8472444,W,1,05,2.4,1132.559,M,-20.300,M,,0000*58

 $GPGLL,4404.1237959,N,12118.8472444,W,232714.000,A,A*4A

 $GPGSA,A,3,28,09,11,08,17,,,,,,,,4.3,2.4,3.5*38

@@ -30,32 +31,32 @@ $GPGSV,4,3,14,05,09,257,,09,08,163,28,15,08,322,,01,07,107,16*70
 $GPGSV,4,4,14,20,06,302,,193,00,293,*4A

 {"class":"SKY","xdop":1.97,"ydop":1.38,"vdop":3.50,"tdop":2.49,"hdop":2.40,"gdop":4.91,"pdop":4.30,"satellites":[{"PRN":30,"el":77,"az":63,"ss":18,"used":false},{"PRN":28,"el":70,"az":264,"ss":19,"used":true},{"PRN":7,"el":48,"az":101,"ss":27,"used":false},{"PRN":13,"el":41,"az":305,"ss":16,"used":false},{"PRN":138,"el":37,"az":160,"ss":34,"used":false},{"PRN":11,"el":25,"az":95,"ss":27,"used":true},{"PRN":8,"el":25,"az":46,"ss":16,"used":true},{"PRN":17,"el":24,"az":183,"ss":39,"used":true},{"PRN":5,"el":9,"az":257,"ss":0,"used":false},{"PRN":9,"el":8,"az":163,"ss":28,"used":true},{"PRN":15,"el":8,"az":322,"ss":0,"used":false},{"PRN":1,"el":7,"az":107,"ss":16,"used":false},{"PRN":20,"el":6,"az":302,"ss":0,"used":false},{"PRN":193,"el":0,"az":293,"ss":0,"used":false}]}

 $GPRMC,232714.000,A,4404.1237959,N,12118.8472444,W,000.0,159.2,280316,,,A*7C

-{"class":"TPV","mode":3,"time":"2016-03-28T23:27:14.000Z","ept":0.005,"lat":44.068729932,"lon":-121.314120740,"alt":1132.559,"epx":29.616,"epy":20.689,"epv":147.200,"track":159.2000,"speed":0.000,"climb":-0.001,"epc":184.00}

 $GPVTG,159.2,T,,M,000.0,N,000.0,K,A*02

 $GPZDA,232714.000,28,03,2016,00,00*5B

 $GPGST,232714.000,,,,,,,*48

 {"class":"GST","time":"2016-03-31T16:05:48.000Z"}

 $PSTI,030,232714.000,A,4404.1237959,N,12118.8472444,W,1132.559,-0.00,0.03,0.00,280316,A,0.0,0.0*1F

+{"class":"TPV","mode":3,"time":"2016-03-28T23:27:14.000Z","ept":0.005,"lat":44.068729932,"lon":-121.314120740,"alt":1132.559,"epx":29.616,"epy":20.689,"epv":147.200,"track":-0.0000,"speed":0.030,"climb":0.000,"epc":184.00}

 $GPGGA,232715.000,4404.1237950,N,12118.8472451,W,1,05,5.6,1132.559,M,-20.300,M,,0000*51

 $GPGLL,4404.1237950,N,12118.8472451,W,232715.000,A,A*46

 $GPGSA,A,3,28,09,11,17,01,,,,,,,,9.4,5.6,7.6*39

 $GPRMC,232715.000,A,4404.1237950,N,12118.8472451,W,000.0,159.2,280316,,,A*70

-{"class":"TPV","mode":3,"time":"2016-03-28T23:27:15.000Z","ept":0.005,"lat":44.068729917,"lon":-121.314120752,"alt":1132.559,"epx":29.616,"epy":20.689,"epv":80.500,"track":159.2000,"speed":0.000,"climb":0.000,"eps":59.23,"epc":227.70}

 $GPVTG,159.2,T,,M,000.0,N,000.0,K,A*02

 $GPZDA,232715.000,28,03,2016,00,00*5A

 $GPGST,232715.000,,,,,,,*49

 {"class":"GST","time":"2016-03-31T16:05:50.000Z"}

 $PSTI,030,232715.000,A,4404.1237950,N,12118.8472451,W,1132.559,-0.00,0.03,0.00,280316,A,0.0,0.0*13

+{"class":"TPV","mode":3,"time":"2016-03-28T23:27:15.000Z","ept":0.005,"lat":44.068729917,"lon":-121.314120752,"alt":1132.559,"epx":29.616,"epy":20.689,"epv":80.500,"track":-0.0000,"speed":0.030,"climb":0.000,"eps":59.23,"epc":227.70}

 $GPGGA,232716.000,4404.1237960,N,12118.8472418,W,2,05,2.8,1132.557,M,-20.300,M,,0000*58

 $GPGLL,4404.1237960,N,12118.8472418,W,232716.000,A,D*4E

 $GPGSA,A,3,28,09,11,17,51,,,,,,,,4.6,2.8,3.7*3F

 $GPRMC,232716.000,A,4404.1237960,N,12118.8472418,W,000.0,159.2,280316,,,D*78

-{"class":"TPV","mode":3,"time":"2016-03-28T23:27:16.000Z","ept":0.005,"lat":44.068729933,"lon":-121.314120697,"alt":1132.557,"epx":7.404,"epy":5.172,"epv":43.700,"track":159.2000,"speed":0.000,"climb":-0.002,"eps":37.02,"epc":124.20}

 $GPVTG,159.2,T,,M,000.0,N,000.0,K,D*07

 $GPZDA,232716.000,28,03,2016,00,00*59

 $GPGST,232716.000,2.9,42.2,8.1,-33.9,0.3,0.3,0.6*40

 {"class":"GST","time":"2016-03-31T16:05:52.000Z","rms":2.900,"major":42.200,"minor":8.100,"orient":-33.900,"lat":0.300,"lon":0.300,"alt":0.600}

 $PSTI,030,232716.000,A,4404.1237960,N,12118.8472418,W,1132.557,-0.01,0.04,-0.00,280316,D,0.0,0.0*3E

+{"class":"TPV","mode":3,"time":"2016-03-28T23:27:16.000Z","ept":0.005,"lat":44.068729933,"lon":-121.314120697,"alt":1132.557,"epx":7.404,"epy":5.172,"epv":43.700,"track":345.9638,"speed":0.041,"climb":-0.000,"eps":37.02,"epc":124.20}

 $GPGGA,232717.000,4404.1237965,N,12118.8472427,W,2,05,2.4,1132.558,M,-20.300,M,,0000*53

 $GPGLL,4404.1237965,N,12118.8472427,W,232717.000,A,D*46

 $GPGSA,A,3,28,09,11,08,17,,,,,,,,4.3,2.4,3.5*38

@@ -65,32 +66,32 @@ $GPGSV,4,3,14,05,09,257,,09,08,163,28,15,08,322,,01,07,107,16*70
 $GPGSV,4,4,14,20,06,302,,193,00,293,*4A

 {"class":"SKY","xdop":1.97,"ydop":1.38,"vdop":3.50,"tdop":2.49,"hdop":2.40,"gdop":4.91,"pdop":4.30,"satellites":[{"PRN":30,"el":77,"az":64,"ss":14,"used":false},{"PRN":28,"el":70,"az":265,"ss":20,"used":true},{"PRN":7,"el":48,"az":101,"ss":27,"used":false},{"PRN":13,"el":41,"az":305,"ss":15,"used":false},{"PRN":138,"el":37,"az":160,"ss":34,"used":false},{"PRN":11,"el":25,"az":95,"ss":27,"used":true},{"PRN":8,"el":25,"az":46,"ss":15,"used":true},{"PRN":17,"el":24,"az":183,"ss":39,"used":true},{"PRN":5,"el":9,"az":257,"ss":0,"used":false},{"PRN":9,"el":8,"az":163,"ss":28,"used":true},{"PRN":15,"el":8,"az":322,"ss":0,"used":false},{"PRN":1,"el":7,"az":107,"ss":16,"used":false},{"PRN":20,"el":6,"az":302,"ss":0,"used":false},{"PRN":193,"el":0,"az":293,"ss":0,"used":false}]}

 $GPRMC,232717.000,A,4404.1237965,N,12118.8472427,W,000.0,159.2,280316,,,D*70

-{"class":"TPV","mode":3,"time":"2016-03-28T23:27:17.000Z","ept":0.005,"lat":44.068729942,"lon":-121.314120712,"alt":1132.558,"epx":7.404,"epy":5.172,"epv":21.275,"track":159.2000,"speed":0.000,"climb":0.001,"eps":14.81,"epc":64.97}

 $GPVTG,159.2,T,,M,000.0,N,000.0,K,D*07

 $GPZDA,232717.000,28,03,2016,00,00*58

 $GPGST,232717.000,1.5,74.0,9.0,-41.8,0.3,0.3,0.6*4D

 {"class":"GST","time":"2016-03-31T16:05:54.000Z","rms":1.500,"major":74.000,"minor":9.000,"orient":-41.800,"lat":0.300,"lon":0.300,"alt":0.600}

 $PSTI,030,232717.000,A,4404.1237965,N,12118.8472427,W,1132.558,0.00,0.01,0.01,280316,D,0.0,0.0*3C

+{"class":"TPV","mode":3,"time":"2016-03-28T23:27:17.000Z","ept":0.005,"lat":44.068729942,"lon":-121.314120712,"alt":1132.558,"epx":7.404,"epy":5.172,"epv":21.275,"track":0.0000,"speed":0.010,"climb":0.010,"eps":14.81,"epc":64.97}

 $GPGGA,232718.000,4404.1237955,N,12118.8472454,W,1,05,2.4,1132.558,M,-20.300,M,,0000*58

 $GPGLL,4404.1237955,N,12118.8472454,W,232718.000,A,A*4B

 $GPGSA,A,3,28,09,11,08,17,,,,,,,,4.2,2.4,3.5*39

 $GPRMC,232718.000,A,4404.1237955,N,12118.8472454,W,000.0,159.2,280316,,,A*7D

-{"class":"TPV","mode":3,"time":"2016-03-28T23:27:18.000Z","ept":0.005,"lat":44.068729925,"lon":-121.314120757,"alt":1132.558,"epx":29.616,"epy":20.689,"epv":80.500,"track":159.2000,"speed":0.000,"climb":0.000,"eps":37.02,"epc":101.78}

 $GPVTG,159.2,T,,M,000.0,N,000.0,K,A*02

 $GPZDA,232718.000,28,03,2016,00,00*57

 $GPGST,232718.000,,,,,,,*44

 {"class":"GST","time":"2016-03-31T16:05:56.000Z"}

 $PSTI,030,232718.000,A,4404.1237955,N,12118.8472454,W,1132.558,0.00,0.01,0.01,280316,A,0.0,0.0*31

+{"class":"TPV","mode":3,"time":"2016-03-28T23:27:18.000Z","ept":0.005,"lat":44.068729925,"lon":-121.314120757,"alt":1132.558,"epx":29.616,"epy":20.689,"epv":80.500,"track":0.0000,"speed":0.010,"climb":0.010,"eps":37.02,"epc":101.78}

 $GPGGA,232719.000,4404.1237930,N,12118.8472522,W,1,06,2.4,1132.559,M,-20.300,M,,0000*58

 $GPGLL,4404.1237930,N,12118.8472522,W,232719.000,A,A*49

 $GPGSA,A,3,28,09,11,08,17,01,,,,,,,4.2,2.4,3.5*38

 $GPRMC,232719.000,A,4404.1237930,N,12118.8472522,W,000.0,159.2,280316,,,A*7F

-{"class":"TPV","mode":3,"time":"2016-03-28T23:27:19.000Z","ept":0.005,"lat":44.068729883,"lon":-121.314120870,"alt":1132.559,"epx":29.616,"epy":20.689,"epv":80.500,"track":159.2000,"speed":0.000,"climb":0.001,"eps":59.23,"epc":161.00}

 $GPVTG,159.2,T,,M,000.0,N,000.0,K,A*02

 $GPZDA,232719.000,28,03,2016,00,00*56

 $GPGST,232719.000,,,,,,,*45

 {"class":"GST","time":"2016-03-31T16:05:58.000Z"}

 $PSTI,030,232719.000,A,4404.1237930,N,12118.8472522,W,1132.559,0.00,0.01,0.01,280316,A,0.0,0.0*32

+{"class":"TPV","mode":3,"time":"2016-03-28T23:27:19.000Z","ept":0.005,"lat":44.068729883,"lon":-121.314120870,"alt":1132.559,"epx":29.616,"epy":20.689,"epv":80.500,"track":0.0000,"speed":0.010,"climb":0.010,"eps":59.23,"epc":161.00}

 $GPGGA,232720.000,4404.1237930,N,12118.8472539,W,1,06,2.4,1132.559,M,-20.300,M,,0000*58

 $GPGLL,4404.1237930,N,12118.8472539,W,232720.000,A,A*49

 $GPGSA,A,3,28,09,11,08,17,01,,,,,,,4.2,2.4,3.5*38

@@ -100,29 +101,29 @@ $GPGSV,4,3,14,05,09,257,,09,08,163,27,15,08,322,,01,07,107,16*7F
 $GPGSV,4,4,14,20,06,302,,193,00,293,*4A

 {"class":"SKY","xdop":1.97,"ydop":1.38,"vdop":3.50,"tdop":2.49,"hdop":2.40,"gdop":4.91,"pdop":4.20,"satellites":[{"PRN":30,"el":77,"az":64,"ss":14,"used":false},{"PRN":28,"el":70,"az":265,"ss":21,"used":true},{"PRN":7,"el":48,"az":101,"ss":28,"used":false},{"PRN":13,"el":41,"az":305,"ss":16,"used":false},{"PRN":138,"el":37,"az":160,"ss":34,"used":false},{"PRN":11,"el":25,"az":95,"ss":27,"used":true},{"PRN":8,"el":25,"az":46,"ss":15,"used":true},{"PRN":17,"el":24,"az":183,"ss":40,"used":true},{"PRN":5,"el":9,"az":257,"ss":0,"used":false},{"PRN":9,"el":8,"az":163,"ss":27,"used":true},{"PRN":15,"el":8,"az":322,"ss":0,"used":false},{"PRN":1,"el":7,"az":107,"ss":16,"used":true},{"PRN":20,"el":6,"az":302,"ss":0,"used":false},{"PRN":193,"el":0,"az":293,"ss":0,"used":false}]}

 $GPRMC,232720.000,A,4404.1237930,N,12118.8472539,W,000.0,159.2,280316,,,A*7F

-{"class":"TPV","mode":3,"time":"2016-03-28T23:27:20.000Z","ept":0.005,"lat":44.068729883,"lon":-121.314120898,"alt":1132.559,"epx":29.616,"epy":20.689,"epv":80.500,"track":159.2000,"speed":0.000,"climb":0.000,"eps":59.23,"epc":161.00}

 $GPVTG,159.2,T,,M,000.0,N,000.0,K,A*02

 $GPZDA,232720.000,28,03,2016,00,00*5C

 $GPGST,232720.000,,,,,,,*4F

 {"class":"GST","time":"2016-03-31T16:06:00.000Z"}

 $PSTI,030,232720.000,A,4404.1237930,N,12118.8472539,W,1132.559,0.00,0.01,0.01,280316,A,0.0,0.0*32

+{"class":"TPV","mode":3,"time":"2016-03-28T23:27:20.000Z","ept":0.005,"lat":44.068729883,"lon":-121.314120898,"alt":1132.559,"epx":29.616,"epy":20.689,"epv":80.500,"track":0.0000,"speed":0.010,"climb":0.010,"eps":59.23,"epc":161.00}

 $GPGGA,232721.000,4404.1237909,N,12118.8472519,W,2,05,5.6,1132.559,M,-20.300,M,,0000*54

 $GPGLL,4404.1237909,N,12118.8472519,W,232721.000,A,D*45

 $GPGSA,A,3,28,09,11,17,01,,,,,,,,9.4,5.6,7.5*3A

 $GPRMC,232721.000,A,4404.1237909,N,12118.8472519,W,000.0,159.2,280316,,,D*73

-{"class":"TPV","mode":3,"time":"2016-03-28T23:27:21.000Z","ept":0.005,"lat":44.068729848,"lon":-121.314120865,"alt":1132.559,"epx":7.404,"epy":5.172,"epv":20.125,"track":159.2000,"speed":0.000,"climb":0.000,"eps":37.02,"epc":100.62}

 $GPVTG,159.2,T,,M,000.0,N,000.0,K,D*07

 $GPZDA,232721.000,28,03,2016,00,00*5D

 $GPGST,232721.000,2.5,89.9,9.1,-41.0,0.3,0.3,0.6*49

 {"class":"GST","time":"2016-03-31T16:06:02.000Z","rms":2.500,"major":89.900,"minor":9.100,"orient":-41.000,"lat":0.300,"lon":0.300,"alt":0.600}

 $PSTI,030,232721.000,A,4404.1237909,N,12118.8472519,W,1132.559,-0.02,0.06,0.01,280316,D,0.0,0.0*16

+{"class":"TPV","mode":3,"time":"2016-03-28T23:27:21.000Z","ept":0.005,"lat":44.068729848,"lon":-121.314120865,"alt":1132.559,"epx":7.404,"epy":5.172,"epv":20.125,"track":341.5651,"speed":0.063,"climb":0.010,"eps":37.02,"epc":100.62}

 $GPGGA,232722.000,4404.1237919,N,12118.8472507,W,1,05,5.6,1132.559,M,-20.300,M,,0000*5A

 $GPGLL,4404.1237919,N,12118.8472507,W,232722.000,A,A*4D

 $GPGSA,A,3,28,09,11,17,01,,,,,,,,9.4,5.6,7.5*3A

 $GPRMC,232722.000,A,4404.1237919,N,12118.8472507,W,000.0,159.2,280316,,,A*7B

-{"class":"TPV","mode":3,"time":"2016-03-28T23:27:22.000Z","ept":0.005,"lat":44.068729865,"lon":-121.314120845,"alt":1132.559,"epx":29.616,"epy":20.689,"epv":172.500,"track":159.2000,"speed":0.000,"climb":0.000,"eps":37.02,"epc":192.62}

 $GPVTG,159.2,T,,M,000.0,N,000.0,K,A*02

 $GPZDA,232722.000,28,03,2016,00,00*5E

 $GPGST,232722.000,,,,,,,*4D

 {"class":"GST","time":"2016-03-31T16:06:04.000Z"}

 $PSTI,030,232722.000,A,4404.1237919,N,12118.8472507,W,1132.559,-0.02,0.06,0.01,280316,A,0.0,0.0*1E

+{"class":"TPV","mode":3,"time":"2016-03-28T23:27:22.000Z","ept":0.005,"lat":44.068729865,"lon":-121.314120845,"alt":1132.559,"epx":29.616,"epy":20.689,"epv":172.500,"track":341.5651,"speed":0.063,"climb":0.010,"eps":37.02,"epc":192.62}