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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
#include "GPS.h"
/*
#if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
*/
void
GPS::update(void)
{
bool result;
// call the GPS driver to process incoming data
result = read();
// if we did not get a message, and the idle timer has expired, re-init
if (!result) {
if ((millis() - _idleTimer) > idleTimeout) {
_status = NO_GPS;
init();
// reset the idle timer
_idleTimer = millis();
}
} else {
// we got a message, update our status correspondingly
_status = fix ? GPS_OK : NO_FIX;
valid_read = true;
new_data = true;
// reset the idle timer
_idleTimer = millis();
if (_status == GPS_OK) {
// update our acceleration
float deltat = 1.0e-3 * (_idleTimer - last_fix_time);
float deltav = 1.0e-2 * ((float)ground_speed - (float)_last_ground_speed);
last_fix_time = _idleTimer;
_last_ground_speed = ground_speed;
if (deltat > 2.0 || deltat == 0) {
// we didn't get a fix for 2 seconds - set
// acceleration to zero, as the estimate will be too
// far out
_acceleration = 0;
} else {
// calculate a mildly smoothed acceleration value
_acceleration = (0.7 * _acceleration) + (0.3 * (deltav/deltat));
}
}
}
}
void
GPS::setHIL(long _time, float _latitude, float _longitude, float _altitude,
float _ground_speed, float _ground_course, float _speed_3d, uint8_t _num_sats)
{
}
// XXX this is probably the wrong way to do it, too
void
GPS::_error(const char *msg)
{
Serial.println(msg);
}