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Added checks to discard gps data if RMC or GLL status is invalid #32

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81b272a
Added checks to discard gps data if RMC or GLL status is invalid
Bigmouseears May 26, 2026
a787b67
Attempt at updating unit tests
Bigmouseears Jun 2, 2026
42c0ea7
Forgot to change the num_cases initalization. Here is the commit wher…
Bigmouseears Jun 3, 2026
8f706fc
Attempt to fix test cases
Bigmouseears Jun 9, 2026
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6 changes: 3 additions & 3 deletions _test/driver/gps/cases/NMEA_inputs.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -7,11 +7,11 @@
"$GPVTG,90.16,T,,M,1.75,N,3.2,K,A*31",
"$GPGGA,134733.000,5540.3231,N,01231.2938,E,1,10,0.8,24.9,M,41.5,M,,0000*6D",
"$GPRMC,134733.000,A,5540.3231,N,01231.2938,E,1.83,113.00,041112,,,A*67",
"$GPRMC,134733.000,V,0000.0000,N,00000.0000,E,1.83,000.00,041112,,,A*67",
"$GPGGA,134734.000,5540.3233,S,01231.2941,W,1,10,0.8,23.7,M,41.5,M,,0000*6F",
"$GPRMC,134734.000,A,5540.3233,N,01231.2941,E,1.23,107.22,041112,,,A*63",
"$GPGSA,A,3,03,22,06,19,11,14,32,01,28,18,,,1.8,0.8,1.6*3F",
"$GPGLL,3953.88008971,N,10506.75318910,W,034138.00,A,D*7A",
"$GPGLL,5109.0262317,N,11401.8407304,W,202725.00,A,D*79",
"$GPGLL,,,,,,,",


"$GPGLL,0000.0000000,N,00000.0000000,W,000000.00,V,D*79",
"$GPGLL,,,,,,,",
2 changes: 2 additions & 0 deletions _test/driver/gps/cases/gps_parse_expected.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -7,9 +7,11 @@
"0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0,0,0,0,0.000000,0.000000,0,0,1.750000,0.000000,0,0,90.160004,T,0.000000,M,N,3.200000,K",
"55.672054,12.521564,0.000000,1231.293823,5540.323242,134733.000000,N,E,1,10,0.800000,24.900000,M,0,0.000000,0.000000,0,0,0.000000,0,0.000000,0,0,0.000000,0",
"55.672054,12.521564,0.000000,1231.293823,5540.323242,134733.000000,N,E,0,0,0.000000,0.000000,0,A,1.830000,113.000000,41112,0,0.000000,0,0.000000,0,0,0.000000,0",
"55.672054,12.521564,0.000000,1231.293823,5540.323242,134733.000000,N,E,0,0,0.000000,0.000000,0,V,1.830000,113.000000,41112,0,0.000000,0,0.000000,0,0,0.000000,0",
"-55.672054,-12.521567,0.000000,1231.294067,5540.323242,134734.000000,S,W,1,10,0.800000,23.700001,M,0,0.000000,0.000000,0,0,0.000000,0,0.000000,0,0,0.000000,0",
"55.672054,12.521567,0.000000,1231.294067,5540.323242,134734.000000,N,E,0,0,0.000000,0.000000,0,A,1.230000,107.220001,41112,0,0.000000,0,0.000000,0,0,0.000000,0",
"0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0,0,0,0,0.000000,0.000000,0,0,0.000000,0.000000,0,0,0.000000,0,0.000000,0,0,0.000000,0",
"39.898003,-105.112549,0.000000,10506.752930,3953.880127,34138.000000,N,W,0,0,0.000000,0.000000,0,0,0.000000,0.000000,0,A,0.000000,0,0.000000,0,0,0.000000,0",
"51.150440,-114.030678,0.000000,11401.840820,5109.026367,202725.000000,N,W,0,0,0.000000,0.000000,0,0,0.000000,0.000000,0,A,0.000000,0,0.000000,0,0,0.000000,0",
"51.150440,-114.030678,0.000000,11401.840820,5109.026367,202725.000000,N,W,0,0,0.000000,0.000000,0,0,0.000000,0.000000,0,V,0.000000,0,0.000000,0,0,0.000000,0",
"0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0,0,0,0,0.000000,0.000000,0,0,0.000000,0.000000,0,0,0.000000,0,0.000000,0,0,0.000000,0"
2 changes: 1 addition & 1 deletion _test/driver/gps/test_gps.c
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Original file line number Diff line number Diff line change
Expand Up @@ -138,7 +138,7 @@ void test_GPS_parse
/*------------------------------------------------------------------------------
Initializations
------------------------------------------------------------------------------*/
int num_cases = 15;
int num_cases = 17;
char buffer[200] = ""; // An NMEA message is 82 characters, but the way we parse may end up with more in order to represent the struct

// Source: https://github.com/esutton/gps-nmea-log-files/blob/master/AMOD_AGL3080_20121104_134730.txt
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65 changes: 48 additions & 17 deletions gps/gps.c
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Original file line number Diff line number Diff line change
Expand Up @@ -303,26 +303,57 @@ if (!strcmp(token, "$GPGGA"))
}
else if (!strcmp(token, "$GPRMC"))
{
gps_ptr->utc_time = gps_string_to_float(GPSstrParse, &idx);
gps_ptr->rmc_status = gps_string_to_char(GPSstrParse, &idx); /* unused */
gps_ptr->nmea_latitude = gps_string_to_float(GPSstrParse, &idx);
gps_ptr->ns = gps_string_to_char(GPSstrParse, &idx);
gps_ptr->nmea_longitude = gps_string_to_float(GPSstrParse, &idx);
gps_ptr->ew = gps_string_to_char(GPSstrParse, &idx);
gps_ptr->speed_k = gps_string_to_float(GPSstrParse, &idx);
gps_ptr->course_d = gps_string_to_float(GPSstrParse, &idx);
gps_ptr->date = (int)(0.5 + gps_string_to_float(GPSstrParse, &idx));
gps_conv_latitude_longitude( gps_ptr );
/* Parse data */
float utc_time = gps_string_to_float(GPSstrParse, &idx);
char rmc_status = gps_string_to_char(GPSstrParse, &idx);
float nmea_latitude = gps_string_to_float(GPSstrParse, &idx);
char ns = gps_string_to_char(GPSstrParse, &idx);
float nmea_longitude = gps_string_to_float(GPSstrParse, &idx);
char ew = gps_string_to_char(GPSstrParse, &idx);
float speed_k = gps_string_to_float(GPSstrParse, &idx);
float course_d = gps_string_to_float(GPSstrParse, &idx);
int date = (int)(0.5 + gps_string_to_float(GPSstrParse, &idx));

/* Save status */
gps_ptr->rmc_status = rmc_status;

/* Save rest of data only if status is A: Active */
if (rmc_status == 'A')
{
gps_ptr->utc_time = utc_time;
gps_ptr->nmea_latitude = nmea_latitude;
gps_ptr->ns = ns;
gps_ptr->nmea_longitude = nmea_longitude;
gps_ptr->ew = ew;
gps_ptr->speed_k = speed_k;
gps_ptr->course_d = course_d;
gps_ptr->date = date;
gps_conv_latitude_longitude( gps_ptr );
}
}
else if (!strcmp(token, "$GPGLL"))
{
gps_ptr->nmea_latitude = gps_string_to_float(GPSstrParse, &idx);
gps_ptr->ns = gps_string_to_char(GPSstrParse, &idx);
gps_ptr->nmea_longitude = gps_string_to_float(GPSstrParse, &idx);
gps_ptr->ew = gps_string_to_char(GPSstrParse, &idx);
gps_ptr->utc_time = gps_string_to_float(GPSstrParse, &idx);
gps_ptr->gll_status = gps_string_to_char(GPSstrParse, &idx);
gps_conv_latitude_longitude( gps_ptr );
/* Parse data */
float nmea_latitude = gps_string_to_float(GPSstrParse, &idx);
char ns = gps_string_to_char(GPSstrParse, &idx);
float nmea_longitude = gps_string_to_float(GPSstrParse, &idx);
char ew = gps_string_to_char(GPSstrParse, &idx);
float utc_time = gps_string_to_float(GPSstrParse, &idx);
char gll_status = gps_string_to_char(GPSstrParse, &idx);

/* Store status */
gps_ptr->gll_status = gll_status;

/* Save rest of data only if status is A: Data Valid */
if (gll_status == 'A')
{
gps_ptr->nmea_latitude = nmea_latitude;
gps_ptr->ns = ns;
gps_ptr->nmea_longitude = nmea_longitude;
gps_ptr->ew = ew;
gps_ptr->utc_time = utc_time;
gps_conv_latitude_longitude( gps_ptr );
}
}
else if (!strcmp(token, "$GPVTG"))
{
Expand Down