/// <summary>
/// Handle GPS GPRMC Notifications - Backup course, speed, and position (Sirf III sends this) - Time, date, position, course and speed data
/// </summary>
/// <param name="notification">GPRMC packet notification</param>
private void GpRmcHandler(gps.GpRmcNotification notification)
{
/*
* RMC - NMEA has its own version of essential gps pvt (position, velocity, time) data. It is called RMC, The Recommended Minimum, which will look similar to:
*
* $GPRMC,123519,A,4807.038,N,01131.000,E,022.4,084.4,230394,003.1,W*6A
*
* Where:
* RMC Recommended Minimum sentence C
* 123519 Fix taken at 12:35:19 UTC
* A Status A=active or V=Void.
* 4807.038,N Latitude 48 deg 07.038' N
* 01131.000,E Longitude 11 deg 31.000' E
* 022.4 Speed over the ground in knots
* 084.4 Track angle in degrees True
* 230394 Date - 23rd of March 1994
* 003.1,W Magnetic Variation
* 6A The checksum data, always begins with *
*
* Note that, as of the 2.3 release of NMEA, there is a new field in the RMC sentence at the end just prior to the checksum:
*
* The last version 2 iteration of the NMEA standard was 2.3. It added a mode indicator to several sentences which is used to indicate the kind of fix the receiver currently has.
* This indication is part of the signal integrity information needed by the FAA. The value can be A=autonomous, D=differential, E=Estimated, N=not valid, S=Simulator.
* Sometimes there can be a null value as well. Only the A and D values will correspond to an Active and reliable Sentence.
* This mode character has been added to the RMC, RMB, VTG, and GLL, sentences and optionally some others including the BWC and XTE sentences.
*/
if (!_mapperVicinity.robotState.ignoreGps)
{
if (!notification.Body.IsValid)
{
Tracer.Error("the GPS reported GPRMC with IsValid=false");
}
else
{
if (traceGps)
{
Tracer.Trace(string.Format("the GPS reported GPRMC: {0} Lat: {1} Lon: {2}", notification.Body.LastUpdate, notification.Body.Latitude, notification.Body.Longitude));
}
GpsState state = _state.gpsState;
// Status (like "A"):
state.GPRMC_Status = notification.Body.Status;
// Latitude
state.GPRMC_Latitude = notification.Body.Latitude;
// Longitude:
state.GPRMC_Longitude = notification.Body.Longitude;
// Last Updated:
state.GPRMC_LastUpdate = notification.Body.LastUpdate;
if (!_testBumpMode && !_state.Dropping && !_doUnitTest)
{
Decide(SensorEventSource.Gps);
}
}
}
}
/// <summary>
/// Handle GPS GPRMC Notifications - Backup course, speed, and position (Sirf III sends this)
/// </summary>
/// <param name="notification">GPRMC packet notification</param>
private void GpRmcHandler(gps.GpRmcNotification notification)
{
Tracer.Trace(string.Format("the GPS reported GPRMC: {0} Lat: {1} Lon: {2}", notification.Body.LastUpdate, notification.Body.Latitude, notification.Body.Longitude));
}
