Add GPS speed and error data to telemetry and aoview

[fw/altos] / src / ao_gps_print.c

diff --git a/src/ao_gps_print.c b/src/ao_gps_print.c
index bef87aeadaf2c83c62ea14d2a285e945181e6fd3..46521b107207b4a1cc8bd59a6d4b101f17a28b5f 100644 (file)
--- a/src/ao_gps_print.c
+++ b/src/ao_gps_print.c
@@ -44,15 +44,19 @@ void
 ao_gps_print(__xdata struct ao_gps_data *gps_data) __reentrant
 {
        printf("GPS %2d sat",
-              (gps_data->flags & AO_GPS_NUM_SAT_MASK) >> AO_GPS_NUM_SAT_SHIFT);;
+              (gps_data->flags & AO_GPS_NUM_SAT_MASK) >> AO_GPS_NUM_SAT_SHIFT);
        if (gps_data->flags & AO_GPS_VALID) {
                static __xdata struct ao_gps_split      lat, lon;
+               int16_t climb;
+               uint8_t climb_sign;
+
                ao_gps_split(gps_data->latitude, &lat);
                ao_gps_split(gps_data->longitude, &lon);
-               printf(" %2d:%02d:%02d %2d°%02d.%04d'%c %2d°%02d.%04d'%c %5dm\n",
+               printf(" %2d:%02d:%02d",
                       gps_data->hour,
                       gps_data->minute,
-                      gps_data->second,
+                      gps_data->second);
+               printf(" %2d°%02d.%04d'%c %2d°%02d.%04d'%c %5dm",
                       lat.degrees,
                       lat.minutes,
                       lat.minutes_fraction,
@@ -61,8 +65,25 @@ ao_gps_print(__xdata struct ao_gps_data *gps_data) __reentrant
                       lon.minutes,
                       lon.minutes_fraction,
                       lon.positive ? 'E' : 'W',
-                      gps_data->altitude,
-                      (gps_data->flags & AO_GPS_NUM_SAT_MASK) >> AO_GPS_NUM_SAT_SHIFT);
+                      gps_data->altitude);
+               if (gps_data->climb_rate >= 0) {
+                       climb_sign = ' ';
+                       climb = gps_data->climb_rate;
+               } else {
+                       climb_sign = '-';
+                       climb = -gps_data->climb_rate;
+               }
+               printf(" %5u.%02dm/s(H) %d° %c%5d.%02dm/s(V)",
+                      gps_data->ground_speed / 100,
+                      gps_data->ground_speed % 100,
+                      gps_data->course * 2,
+                      climb_sign,
+                      climb / 100,
+                      climb % 100);
+               printf(" %d.%d(hdop) %5d(herr) %5d(verr)\n",
+                      gps_data->hdop,
+                      gps_data->h_error,
+                      gps_data->v_error);
        } else {
                printf(" unlocked\n");
        }