/// <summary>
/// Handle GPS GPVTG Notifications - Ground Speed and Course
/// </summary>
/// <param name="notification">GPVTG packet notification</param>
private void GpVtgHandler(gps.GpVtgNotification notification)
{
/*
* VTG - Velocity made good. The gps receiver may use the LC prefix instead of GP if it is emulating Loran output.
*
* $GPVTG,054.7,T,034.4,M,005.5,N,010.2,K*48
*
* where:
* VTG Track made good and ground speed
* 054.7,T True track made good (degrees)
* 034.4,M Magnetic track made good
* 005.5,N Ground speed, knots
* 010.2,K Ground speed, Kilometers per hour
* 48 Checksum
* Note that, as of the 2.3 release of NMEA, there is a new field in the VTG sentence at the end just prior to the checksum. For more information on this field see here.
*
* Receivers that don't have a magnetic deviation (variation) table built in will null out the Magnetic track made good.
*/
if (!_mapperVicinity.robotState.ignoreGps)
{
if (!notification.Body.IsValid)
{
Tracer.Error("the GPS reported GPVTG with IsValid=false");
}
else
{
if (traceGps)
{
Tracer.Trace(string.Format("the GPS reported GPVTG: {0} CourseDegrees: {1} SpeedMetersPerSecond: {2}", notification.Body.LastUpdate, notification.Body.CourseDegrees, notification.Body.SpeedMetersPerSecond));
}
GpsState state = _state.gpsState;
// CourseDegrees:
state.GPVTG_CourseDegrees = notification.Body.CourseDegrees;
// SpeedMetersPerSecond:
state.GPVTG_SpeedMetersPerSecond = notification.Body.SpeedMetersPerSecond;
// Last Updated:
state.GPVTG_LastUpdate = notification.Body.LastUpdate;
if (!_testBumpMode && !_state.Dropping && !_doUnitTest)
{
Decide(SensorEventSource.Gps);
}
}
}
}
/// <summary>
/// Handle GPS GPVTG Notifications - Ground Speed and Course
/// </summary>
/// <param name="notification">GPVTG packet notification</param>
private void GpVtgHandler(gps.GpVtgNotification notification)
{
Tracer.Trace(string.Format("the GPS reported GPVTG: {0} CourseDegrees: {1} SpeedMetersPerSecond: {2}", notification.Body.LastUpdate, notification.Body.CourseDegrees, notification.Body.SpeedMetersPerSecond));
}
