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nmea_gps: Handle different GGA structure

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Testing against ublox - handle null age of differential GPS.

Signed-off-by: Noel Eck <noel.eck@intel.com>
This commit is contained in:
Noel Eck 2018-06-01 09:59:55 -07:00
parent 6228498147
commit cdfb68c381
1 changed files with 3 additions and 2 deletions
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5
src/nmea_gps/nmea_gps.cxx
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@ -166,8 +166,9 @@ static uint8_t checksum(const std::string& sentence)
* Unfortunately these sentences appear-non standard between the devices tested
* so it can be expected that these would need updating to match additional
* devices.
* GPGGA,164800.00,4532.52680,N,12257.59972,W,1,10,0.93,73.3,M,-21.3,M,,*5E
*/
static std::regex rex_gga(R"(^\$GPGGA,(\d+\.\d+),(\d+)(\d{2}\.\d+),([NS]),(\d+)(\d{2}.\d+),([WE]),(\d+),(\d+),(\d+\.\d+),(\d+\.\d+),M,([+-]?\d+\.\d+),M,([+-]?\d+\.\d+),(\S+)[*]([A-Z0-9]{2}))");
static std::regex rex_gga(R"(^\$GPGGA,(\d+\.\d+),(\d+)(\d{2}\.\d+),([NS]),(\d+)(\d{2}.\d+),([WE]),(\d+),(\d+),(\d+\.\d+),(\d+\.\d+),M,([+-]?\d+\.\d+),M,([+-]?\d+\.\d+)?,?(\S+)?[*]([A-Z0-9]{2}))");
void NMEAGPS::_parse_gpgga(const std::string& sentence)
{
/* Parse the GGA message */
@ -189,7 +190,7 @@ void NMEAGPS::_parse_gpgga(const std::string& sentence)
fix.hdop = std::stof(m[10]);
fix.altitude_meters = std::stof(m[11]);
fix.geoid_height_meters = std::stof(m[12]);
fix.age_seconds = std::stof(m[13]);
fix.age_seconds = m[13].str().empty() ? 0.0 : std::stof(m[13]);
fix.station_id = m[14];
fix.chksum_match = std::stoi(m[15], nullptr, 16) == checksum(sentence);
fix.valid &= fix.chksum_match;