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Ashtech driver: Avoid unnecessary double precision conversion calls

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Lorenz Meier
2015-02-08 12:21:33 +01:00
parent e5e42650c4
commit 3bb0008af5
3 changed files with 49 additions and 43 deletions
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src/drivers/gps/mtk.cpp
+11 -11
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@@ -259,7 +259,7 @@ MTK::handle_message(gps_mtk_packet_t &packet)
_gps_position->fix_type = packet.fix_type;
_gps_position->eph = packet.hdop / 100.0f; // from cm to m
_gps_position->epv = _gps_position->eph; // unknown in mtk custom mode, so we cheat with eph
_gps_position->vel_m_s = ((float)packet.ground_speed) * 1e-2f; // from cm/s to m/s
_gps_position->vel_m_s = ((float)packet.ground_speed) / 100.0f; // from cm/s to m/s
_gps_position->cog_rad = ((float)packet.heading) * M_DEG_TO_RAD_F * 1e-2f; //from deg *100 to rad
_gps_position->satellites_used = packet.satellites;
@@ -267,17 +267,17 @@ MTK::handle_message(gps_mtk_packet_t &packet)
struct tm timeinfo;
uint32_t timeinfo_conversion_temp;
timeinfo.tm_mday = packet.date * 1e-4;
timeinfo_conversion_temp = packet.date - timeinfo.tm_mday * 1e4;
timeinfo.tm_mon = timeinfo_conversion_temp * 1e-2 - 1;
timeinfo.tm_year = (timeinfo_conversion_temp - (timeinfo.tm_mon + 1) * 1e2) + 100;
timeinfo.tm_mday = packet.date / 10000;
timeinfo_conversion_temp = packet.date - timeinfo.tm_mday * 10000;
timeinfo.tm_mon = (timeinfo_conversion_temp / 100) - 1;
timeinfo.tm_year = (timeinfo_conversion_temp - (timeinfo.tm_mon + 1) * 100) + 100;
timeinfo.tm_hour = packet.utc_time * 1e-7;
timeinfo_conversion_temp = packet.utc_time - timeinfo.tm_hour * 1e7;
timeinfo.tm_min = timeinfo_conversion_temp * 1e-5;
timeinfo_conversion_temp -= timeinfo.tm_min * 1e5;
timeinfo.tm_sec = timeinfo_conversion_temp * 1e-3;
timeinfo_conversion_temp -= timeinfo.tm_sec * 1e3;
timeinfo.tm_hour = (packet.utc_time / 10000000);
timeinfo_conversion_temp = packet.utc_time - timeinfo.tm_hour * 10000000;
timeinfo.tm_min = timeinfo_conversion_temp / 100000;
timeinfo_conversion_temp -= timeinfo.tm_min * 100000;
timeinfo.tm_sec = timeinfo_conversion_temp / 1000;
timeinfo_conversion_temp -= timeinfo.tm_sec * 1000;
time_t epoch = mktime(&timeinfo);
if (epoch > GPS_EPOCH_SECS) {