/// <summary>
/// Handle GPS GPGGA Notifications - Altitude and backup position - Time, position and fix type data
/// </summary>
/// <param name="notification">GPGGA packet notification</param>
private void GpGgaHandler(gps.GpGgaNotification notification)
{
/*
* GGA - essential fix data which provide 3D location and accuracy data.
*
* $GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*47
*
* Where:
* GGA Global Positioning System Fix Data
* 123519 Fix taken at 12:35:19 UTC
* 4807.038,N Latitude 48 deg 07.038' N
* 01131.000,E Longitude 11 deg 31.000' E
* 1 Fix quality: 0 = invalid
* 1 = GPS fix (SPS)
* 2 = DGPS fix
* 3 = PPS fix
* 4 = Real Time Kinematic
* 5 = Float RTK
* 6 = estimated (dead reckoning) (2.3 feature)
* 7 = Manual input mode
* 8 = Simulation mode
* 08 Number of satellites being tracked
* 0.9 Horizontal dilution of position
* 545.4,M Altitude, Meters, above mean sea level
* 46.9,M Height of geoid (mean sea level) above WGS84
* ellipsoid
* (empty field) time in seconds since last DGPS update
* (empty field) DGPS station ID number
* 47 the checksum data, always begins with *
*
* If the height of geoid is missing then the altitude should be suspect.
* Some non-standard implementations report altitude with respect to the ellipsoid rather than geoid altitude.
* Some units do not report negative altitudes at all. This is the only sentence that reports altitude.
*/
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 GPGGA: {0} Lat: {1} Lon: {2}", notification.Body.LastUpdate, notification.Body.Latitude, notification.Body.Longitude));
}
GpsState state = _state.gpsState;
// Position Fix Indicator:
state.GPGGA_PositionFixIndicator = notification.Body.PositionFixIndicator;
// Altitude:
state.GPGGA_AltitudeMeters = notification.Body.AltitudeMeters;
// Coordinates:
state.GPGGA_Latitude = notification.Body.Latitude;
state.GPGGA_Longitude = notification.Body.Longitude;
// Precision:
state.GPGGA_HorizontalDilutionOfPrecision = notification.Body.HorizontalDilutionOfPrecision;
state.GPGGA_SatellitesUsed = notification.Body.SatellitesUsed;
// Last Updated:
state.GPGGA_LastUpdate = notification.Body.LastUpdate;
if (!_testBumpMode && !_state.Dropping && !_doUnitTest)
{
Decide(SensorEventSource.Gps);
}
}
}
}
/// <summary>
/// Handle GPS GPGGA Notifications - Altitude and backup position
/// </summary>
/// <param name="notification">GPGGA packet notification</param>
private void GpGgaHandler(gps.GpGgaNotification notification)
{
Tracer.Trace(string.Format("the GPS reported GPGGA: {0} Lat: {1} Lon: {2}", notification.Body.LastUpdate, notification.Body.Latitude, notification.Body.Longitude));
}
