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Commit 7de08acf authored by uncrustify's avatar uncrustify Committed by Pat Hickey
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uncrustify libraries/AP_GPS/AP_GPS_MTK16.cpp

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libraries/AP_GPS/AP_GPS_MTK16.cpp
+ 55
− 55
View file @ 7de08acf
......@@ -14,9 +14,9 @@
#include "AP_GPS_MTK16.h"
#include <stdint.h>
#if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h"
#include "Arduino.h"
#else
#include <wiring.h>
#include <wiring.h>
#endif
// Constructors ////////////////////////////////////////////////////////////////
......@@ -37,12 +37,12 @@ AP_GPS_MTK16::init(enum GPS_Engine_Setting nav_setting)
// set 5Hz update rate
_port->print(MTK_OUTPUT_5HZ);
// set SBAS on
_port->print(SBAS_ON);
// set WAAS on
_port->print(WAAS_ON);
// set SBAS on
_port->print(SBAS_ON);
// set WAAS on
_port->print(WAAS_ON);
// set initial epoch code
_epoch = TIME_OF_DAY;
_time_offset = 0;
......@@ -64,12 +64,12 @@ AP_GPS_MTK16::init(enum GPS_Engine_Setting nav_setting)
bool
AP_GPS_MTK16::read(void)
{
uint8_t data;
int16_t numc;
bool parsed = false;
uint8_t data;
int16_t numc;
bool parsed = false;
numc = _port->available();
for (int16_t i = 0; i < numc; i++) { // Process bytes received
for (int16_t i = 0; i < numc; i++) { // Process bytes received
// read the next byte
data = _port->read();
......@@ -77,15 +77,15 @@ AP_GPS_MTK16::read(void)
restart:
switch(_step) {
// Message preamble, class, ID detection
//
// If we fail to match any of the expected bytes, we
// reset the state machine and re-consider the failed
// byte as the first byte of the preamble. This
// improves our chances of recovering from a mismatch
// and makes it less likely that we will be fooled by
// the preamble appearing as data in some other message.
//
// Message preamble, class, ID detection
//
// If we fail to match any of the expected bytes, we
// reset the state machine and re-consider the failed
// byte as the first byte of the preamble. This
// improves our chances of recovering from a mismatch
// and makes it less likely that we will be fooled by
// the preamble appearing as data in some other message.
//
case 0:
if(PREAMBLE1 == data)
_step++;
......@@ -100,16 +100,16 @@ restart:
case 2:
if (sizeof(_buffer) == data) {
_step++;
_ck_b = _ck_a = data; // reset the checksum accumulators
_ck_b = _ck_a = data; // reset the checksum accumulators
_payload_counter = 0;
} else {
_step = 0; // reset and wait for a message of the right class
_step = 0; // reset and wait for a message of the right class
goto restart;
}
break;
// Receive message data
//
// Receive message data
//
case 3:
_buffer.bytes[_payload_counter++] = data;
_ck_b += (_ck_a += data);
......@@ -117,8 +117,8 @@ restart:
_step++;
break;
// Checksum and message processing
//
// Checksum and message processing
//
case 4:
_step++;
if (_ck_a != data) {
......@@ -131,19 +131,19 @@ restart:
break;
}
fix = ((_buffer.msg.fix_type == FIX_3D) ||
(_buffer.msg.fix_type == FIX_3D_SBAS));
latitude = _buffer.msg.latitude * 10; // XXX doc says *10e7 but device says otherwise
longitude = _buffer.msg.longitude * 10; // XXX doc says *10e7 but device says otherwise
altitude = _buffer.msg.altitude;
ground_speed = _buffer.msg.ground_speed;
ground_course = _buffer.msg.ground_course;
num_sats = _buffer.msg.satellites;
hdop = _buffer.msg.hdop;
date = _buffer.msg.utc_date;
fix = ((_buffer.msg.fix_type == FIX_3D) ||
(_buffer.msg.fix_type == FIX_3D_SBAS));
latitude = _buffer.msg.latitude * 10; // XXX doc says *10e7 but device says otherwise
longitude = _buffer.msg.longitude * 10; // XXX doc says *10e7 but device says otherwise
altitude = _buffer.msg.altitude;
ground_speed = _buffer.msg.ground_speed;
ground_course = _buffer.msg.ground_course;
num_sats = _buffer.msg.satellites;
hdop = _buffer.msg.hdop;
date = _buffer.msg.utc_date;
// time from gps is UTC, but convert here to msToD
int32_t time_utc = _buffer.msg.utc_time;
int32_t time_utc = _buffer.msg.utc_time;
int32_t temp = (time_utc/10000000);
time_utc -= temp*10000000;
time = temp * 3600000;
......@@ -154,26 +154,26 @@ restart:
parsed = true;
#ifdef FAKE_GPS_LOCK_TIME
if (millis() > FAKE_GPS_LOCK_TIME*1000) {
fix = true;
latitude = -35000000UL;
longitude = 149000000UL;
altitude = 584;
}
if (millis() > FAKE_GPS_LOCK_TIME*1000) {
fix = true;
latitude = -35000000UL;
longitude = 149000000UL;
altitude = 584;
}
#endif
/* Waiting on clarification of MAVLink protocol!
if(!_offset_calculated && parsed) {
int32_t tempd1 = date;
int32_t day = tempd1/10000;
tempd1 -= day * 10000;
int32_t month = tempd1/100;
int32_t year = tempd1 - month * 100;
_time_offset = _calc_epoch_offset(day, month, year);
_epoch = UNIX_EPOCH;
_offset_calculated = TRUE;
}
*/
* if(!_offset_calculated && parsed) {
* int32_t tempd1 = date;
* int32_t day = tempd1/10000;
* tempd1 -= day * 10000;
* int32_t month = tempd1/100;
* int32_t year = tempd1 - month * 100;
* _time_offset = _calc_epoch_offset(day, month, year);
* _epoch = UNIX_EPOCH;
* _offset_calculated = TRUE;
* }
*/
}
}
......
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