/// <summary>
/// Handle GPS GPGLL Notifications - Primary Position
/// </summary>
/// <param name="notification">GPGLL packet notification</param>
private void GpGllHandler(gps.GpGllNotification notification)
{
/*
* GLL - Geographic Latitude and Longitude is a holdover from Loran data and some old units may not send the time and data active information if they are emulating Loran data.
* If a gps is emulating Loran data they may use the LC Loran prefix instead of GP.
*
* $GPGLL,4916.45,N,12311.12,W,225444,A,*1D
*
* Where:
* GLL Geographic position, Latitude and Longitude
* 4916.46,N Latitude 49 deg. 16.45 min. North
* 12311.12,W Longitude 123 deg. 11.12 min. West
* 225444 Fix taken at 22:54:44 UTC
* A Data Active or V (void)
* iD checksum data
*
* Note that, as of the 2.3 release of NMEA, there is a new field in the GLL sentence at the end just prior to the checksum. For more information on this field see here.
*/
if (!_mapperVicinity.robotState.ignoreGps)
{
if (!notification.Body.IsValid)
{
Tracer.Error("the GPS reported GPGGA with IsValid=false");
}
else
{
if (traceGps)
{
Tracer.Trace(string.Format("the GPS reported GPGLL: {0} Lat: {1} Lon: {2}", notification.Body.LastUpdate, notification.Body.Latitude, notification.Body.Longitude));
}
GpsState state = _state.gpsState;
// Position Fix Indicator:
state.GPGLL_MarginOfError = notification.Body.MarginOfError;
// Altitude:
state.GPGLL_Status = notification.Body.Status;
// Coordinates:
state.GPGLL_Latitude = notification.Body.Latitude;
state.GPGLL_Longitude = notification.Body.Longitude;
// Last Updated:
state.GPGLL_LastUpdate = notification.Body.LastUpdate;
if (!_testBumpMode && !_state.Dropping && !_doUnitTest)
{
Decide(SensorEventSource.Gps);
}
}
}
}
/// <summary>
/// Handle GPS GPGLL Notifications - Primary Position
/// </summary>
/// <param name="notification">GPGLL packet notification</param>
private void GpGllHandler(gps.GpGllNotification notification)
{
Tracer.Trace(string.Format("the GPS reported GPGLL: {0} Lat: {1} Lon: {2}", notification.Body.LastUpdate, notification.Body.Latitude, notification.Body.Longitude));
}
