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| 2189 | - | 1 | // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
| 2 | |||
| 3 | #include "GPS.h" |
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| 4 | /* |
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| 5 | #if defined(ARDUINO) && ARDUINO >= 100 |
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| 6 | #include "Arduino.h" |
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| 7 | #else |
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| 8 | #include "WProgram.h" |
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| 9 | #endif |
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| 10 | */ |
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| 11 | |||
| 12 | void |
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| 13 | GPS::update(void) |
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| 14 | { |
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| 15 | bool result; |
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| 16 | |||
| 17 | // call the GPS driver to process incoming data |
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| 18 | result = read(); |
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| 19 | |||
| 20 | // if we did not get a message, and the idle timer has expired, re-init |
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| 21 | if (!result) { |
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| 22 | if ((millis() - _idleTimer) > idleTimeout) { |
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| 23 | _status = NO_GPS; |
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| 24 | |||
| 25 | init(); |
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| 26 | // reset the idle timer |
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| 27 | _idleTimer = millis(); |
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| 28 | } |
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| 29 | } else { |
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| 30 | // we got a message, update our status correspondingly |
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| 31 | _status = fix ? GPS_OK : NO_FIX; |
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| 32 | |||
| 33 | valid_read = true; |
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| 34 | new_data = true; |
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| 35 | |||
| 36 | // reset the idle timer |
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| 37 | _idleTimer = millis(); |
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| 38 | |||
| 39 | if (_status == GPS_OK) { |
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| 40 | // update our acceleration |
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| 41 | float deltat = 1.0e-3 * (_idleTimer - last_fix_time); |
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| 42 | float deltav = 1.0e-2 * ((float)ground_speed - (float)_last_ground_speed); |
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| 43 | last_fix_time = _idleTimer; |
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| 44 | _last_ground_speed = ground_speed; |
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| 45 | |||
| 46 | if (deltat > 2.0 || deltat == 0) { |
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| 47 | // we didn't get a fix for 2 seconds - set |
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| 48 | // acceleration to zero, as the estimate will be too |
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| 49 | // far out |
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| 50 | _acceleration = 0; |
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| 51 | } else { |
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| 52 | // calculate a mildly smoothed acceleration value |
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| 53 | _acceleration = (0.7 * _acceleration) + (0.3 * (deltav/deltat)); |
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| 54 | } |
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| 55 | } |
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| 56 | } |
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| 57 | } |
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| 58 | |||
| 59 | void |
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| 60 | GPS::setHIL(long _time, float _latitude, float _longitude, float _altitude, |
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| 61 | float _ground_speed, float _ground_course, float _speed_3d, uint8_t _num_sats) |
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| 62 | { |
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| 63 | } |
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| 64 | |||
| 65 | // XXX this is probably the wrong way to do it, too |
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| 66 | void |
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| 67 | GPS::_error(const char *msg) |
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| 68 | { |
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| 69 | Serial.println(msg); |
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| 70 | } |