Merge "Generate position report NMEAs only on final fix"

loc_api/libloc_api_50001/loc_eng.cpp

@@ -1620,7 +1620,10 @@ static void loc_eng_deferred_action_thread(void* arg)
 
                 if (loc_eng_data_p->generateNmea && rpMsg->location.position_source == ULP_LOCATION_IS_FROM_GNSS)
                 {
-                    loc_eng_nmea_generate_pos(loc_eng_data_p, rpMsg->location, rpMsg->locationExtended);
+                    unsigned char generate_nmea = reported && (rpMsg->status != LOC_SESS_FAILURE);
+                    loc_eng_nmea_generate_pos(loc_eng_data_p, rpMsg->location,
+                                              rpMsg->locationExtended,
+                                              generate_nmea);
                 }
 
                 // Free the allocated memory for rawData

loc_api/libloc_api_50001/loc_eng_nmea.cpp

@@ -110,7 +110,9 @@ SIDE EFFECTS
 
 ===========================================================================*/
 void loc_eng_nmea_generate_pos(loc_eng_data_s_type *loc_eng_data_p,
-                               const UlpLocation &location, const GpsLocationExtended &locationExtended)
+                               const UlpLocation &location,
+                               const GpsLocationExtended &locationExtended,
+                               unsigned char generate_nmea)
 {
     ENTRY_LOG();
 
@@ -128,46 +130,32 @@ void loc_eng_nmea_generate_pos(loc_eng_data_s_type *loc_eng_data_p,
     int utcMinutes = pTm->tm_min;
     int utcSeconds = pTm->tm_sec;
 
-    // ------------------
+    if (generate_nmea) {
-    // ------$GPGSA------
+        // ------------------
-    // ------------------
+        // ------$GPGSA------
+        // ------------------
 
-    uint32_t svUsedCount = 0;
+        uint32_t svUsedCount = 0;
-    uint32_t svUsedList[32] = {0};
+        uint32_t svUsedList[32] = {0};
-    uint32_t mask = loc_eng_data_p->sv_used_mask;
+        uint32_t mask = loc_eng_data_p->sv_used_mask;
-    for (uint8_t i = 1; mask > 0 && svUsedCount < 32; i++)
+        for (uint8_t i = 1; mask > 0 && svUsedCount < 32; i++)
-    {
+        {
-        if (mask & 1)
+            if (mask & 1)
-            svUsedList[svUsedCount++] = i;
+                svUsedList[svUsedCount++] = i;
-        mask = mask >> 1;
+            mask = mask >> 1;
-    }
+        }
-    // clear the cache so they can't be used again
+        // clear the cache so they can't be used again
-    loc_eng_data_p->sv_used_mask = 0;
+        loc_eng_data_p->sv_used_mask = 0;
 
-    char fixType;
+        char fixType;
-    if (svUsedCount == 0)
+        if (svUsedCount == 0)
-        fixType = '1'; // no fix
+            fixType = '1'; // no fix
-    else if (svUsedCount <= 3)
+        else if (svUsedCount <= 3)
-        fixType = '2'; // 2D fix
+            fixType = '2'; // 2D fix
-    else
-        fixType = '3'; // 3D fix
-
-    length = snprintf(pMarker, lengthRemaining, "$GPGSA,A,%c,", fixType);
-
-    if (length < 0 || length >= lengthRemaining)
-    {
-        LOC_LOGE("NMEA Error in string formatting");
-        return;
-    }
-    pMarker += length;
-    lengthRemaining -= length;
-
-    for (uint8_t i = 0; i < 12; i++) // only the first 12 sv go in sentence
-    {
-        if (i < svUsedCount)
-            length = snprintf(pMarker, lengthRemaining, "%02d,", svUsedList[i]);
         else
-            length = snprintf(pMarker, lengthRemaining, ",");
+            fixType = '3'; // 3D fix
+
+        length = snprintf(pMarker, lengthRemaining, "$GPGSA,A,%c,", fixType);
 
         if (length < 0 || length >= lengthRemaining)
         {
@@ -176,378 +164,412 @@ void loc_eng_nmea_generate_pos(loc_eng_data_s_type *loc_eng_data_p,
         }
         pMarker += length;
         lengthRemaining -= length;
-    }
 
-    if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_DOP)
+        for (uint8_t i = 0; i < 12; i++) // only the first 12 sv go in sentence
-    {   // dop is in locationExtended, (QMI)
+        {
-        length = snprintf(pMarker, lengthRemaining, "%.1f,%.1f,%.1f",
+            if (i < svUsedCount)
-                          locationExtended.pdop,
+                length = snprintf(pMarker, lengthRemaining, "%02d,", svUsedList[i]);
-                          locationExtended.hdop,
+            else
-                          locationExtended.vdop);
+                length = snprintf(pMarker, lengthRemaining, ",");
-    }
-    else if (loc_eng_data_p->pdop > 0 && loc_eng_data_p->hdop > 0 && loc_eng_data_p->vdop > 0)
-    {   // dop was cached from sv report (RPC)
-        length = snprintf(pMarker, lengthRemaining, "%.1f,%.1f,%.1f",
-                          loc_eng_data_p->pdop,
-                          loc_eng_data_p->hdop,
-                          loc_eng_data_p->vdop);
-    }
-    else
-    {   // no dop
-        length = snprintf(pMarker, lengthRemaining, ",,");
-    }
 
-    length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence));
+            if (length < 0 || length >= lengthRemaining)
-    loc_eng_nmea_send(sentence, length, loc_eng_data_p);
+            {
+                LOC_LOGE("NMEA Error in string formatting");
+                return;
+            }
+            pMarker += length;
+            lengthRemaining -= length;
+        }
 
-    // ------------------
+        if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_DOP)
-    // ------$GPVTG------
+        {   // dop is in locationExtended, (QMI)
-    // ------------------
+            length = snprintf(pMarker, lengthRemaining, "%.1f,%.1f,%.1f",
+                              locationExtended.pdop,
+                              locationExtended.hdop,
+                              locationExtended.vdop);
+        }
+        else if (loc_eng_data_p->pdop > 0 && loc_eng_data_p->hdop > 0 && loc_eng_data_p->vdop > 0)
+        {   // dop was cached from sv report (RPC)
+            length = snprintf(pMarker, lengthRemaining, "%.1f,%.1f,%.1f",
+                              loc_eng_data_p->pdop,
+                              loc_eng_data_p->hdop,
+                              loc_eng_data_p->vdop);
+        }
+        else
+        {   // no dop
+            length = snprintf(pMarker, lengthRemaining, ",,");
+        }
 
-    pMarker = sentence;
+        length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence));
-    lengthRemaining = sizeof(sentence);
+        loc_eng_nmea_send(sentence, length, loc_eng_data_p);
+
+        // ------------------
+        // ------$GPVTG------
+        // ------------------
+
+        pMarker = sentence;
+        lengthRemaining = sizeof(sentence);
+
+        if (location.gpsLocation.flags & GPS_LOCATION_HAS_BEARING)
+        {
+            float magTrack = location.gpsLocation.bearing;
+            if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_MAG_DEV)
+            {
+                float magTrack = location.gpsLocation.bearing - locationExtended.magneticDeviation;
+                if (magTrack < 0.0)
+                    magTrack += 360.0;
+                else if (magTrack > 360.0)
+                    magTrack -= 360.0;
+            }
+
+            length = snprintf(pMarker, lengthRemaining, "$GPVTG,%.1lf,T,%.1lf,M,", location.gpsLocation.bearing, magTrack);
+        }
+        else
+        {
+            length = snprintf(pMarker, lengthRemaining, "$GPVTG,,T,,M,");
+        }
+
+        if (length < 0 || length >= lengthRemaining)
+        {
+            LOC_LOGE("NMEA Error in string formatting");
+            return;
+        }
+        pMarker += length;
+        lengthRemaining -= length;
+
+        if (location.gpsLocation.flags & GPS_LOCATION_HAS_SPEED)
+        {
+            float speedKnots = location.gpsLocation.speed * (3600.0/1852.0);
+            float speedKmPerHour = location.gpsLocation.speed * 3.6;
+
+            length = snprintf(pMarker, lengthRemaining, "%.1lf,N,%.1lf,K,", speedKnots, speedKmPerHour);
+        }
+        else
+        {
+            length = snprintf(pMarker, lengthRemaining, ",N,,K,");
+        }
+
+        if (length < 0 || length >= lengthRemaining)
+        {
+            LOC_LOGE("NMEA Error in string formatting");
+            return;
+        }
+        pMarker += length;
+        lengthRemaining -= length;
+
+        if (!(location.gpsLocation.flags & GPS_LOCATION_HAS_LAT_LONG))
+            length = snprintf(pMarker, lengthRemaining, "%c", 'N'); // N means no fix
+        else if (LOC_POSITION_MODE_STANDALONE == loc_eng_data_p->client_handle->getPositionMode().mode)
+            length = snprintf(pMarker, lengthRemaining, "%c", 'A'); // A means autonomous
+        else
+            length = snprintf(pMarker, lengthRemaining, "%c", 'D'); // D means differential
+
+        length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence));
+        loc_eng_nmea_send(sentence, length, loc_eng_data_p);
+
+        // ------------------
+        // ------$GPRMC------
+        // ------------------
+
+        pMarker = sentence;
+        lengthRemaining = sizeof(sentence);
+
+        length = snprintf(pMarker, lengthRemaining, "$GPRMC,%02d%02d%02d,A," ,
+                          utcHours, utcMinutes, utcSeconds);
+
+        if (length < 0 || length >= lengthRemaining)
+        {
+            LOC_LOGE("NMEA Error in string formatting");
+            return;
+        }
+        pMarker += length;
+        lengthRemaining -= length;
+
+        if (location.gpsLocation.flags & GPS_LOCATION_HAS_LAT_LONG)
+        {
+            double latitude = location.gpsLocation.latitude;
+            double longitude = location.gpsLocation.longitude;
+            char latHemisphere;
+            char lonHemisphere;
+            double latMinutes;
+            double lonMinutes;
+
+            if (latitude > 0)
+            {
+                latHemisphere = 'N';
+            }
+            else
+            {
+                latHemisphere = 'S';
+                latitude *= -1.0;
+            }
+
+            if (longitude < 0)
+            {
+                lonHemisphere = 'W';
+                longitude *= -1.0;
+            }
+            else
+            {
+                lonHemisphere = 'E';
+            }
+
+            latMinutes = fmod(latitude * 60.0 , 60.0);
+            lonMinutes = fmod(longitude * 60.0 , 60.0);
+
+            length = snprintf(pMarker, lengthRemaining, "%02d%09.6lf,%c,%03d%09.6lf,%c,",
+                              (uint8_t)floor(latitude), latMinutes, latHemisphere,
+                              (uint8_t)floor(longitude),lonMinutes, lonHemisphere);
+        }
+        else
+        {
+            length = snprintf(pMarker, lengthRemaining,",,,,");
+        }
+
+        if (length < 0 || length >= lengthRemaining)
+        {
+            LOC_LOGE("NMEA Error in string formatting");
+            return;
+        }
+        pMarker += length;
+        lengthRemaining -= length;
+
+        if (location.gpsLocation.flags & GPS_LOCATION_HAS_SPEED)
+        {
+            float speedKnots = location.gpsLocation.speed * (3600.0/1852.0);
+            length = snprintf(pMarker, lengthRemaining, "%.1lf,", speedKnots);
+        }
+        else
+        {
+            length = snprintf(pMarker, lengthRemaining, ",");
+        }
+
+        if (length < 0 || length >= lengthRemaining)
+        {
+            LOC_LOGE("NMEA Error in string formatting");
+            return;
+        }
+        pMarker += length;
+        lengthRemaining -= length;
+
+        if (location.gpsLocation.flags & GPS_LOCATION_HAS_BEARING)
+        {
+            length = snprintf(pMarker, lengthRemaining, "%.1lf,", location.gpsLocation.bearing);
+        }
+        else
+        {
+            length = snprintf(pMarker, lengthRemaining, ",");
+        }
+
+        if (length < 0 || length >= lengthRemaining)
+        {
+            LOC_LOGE("NMEA Error in string formatting");
+            return;
+        }
+        pMarker += length;
+        lengthRemaining -= length;
+
+        length = snprintf(pMarker, lengthRemaining, "%2.2d%2.2d%2.2d,",
+                          utcDay, utcMonth, utcYear);
+
+        if (length < 0 || length >= lengthRemaining)
+        {
+            LOC_LOGE("NMEA Error in string formatting");
+            return;
+        }
+        pMarker += length;
+        lengthRemaining -= length;
 
-    if (location.gpsLocation.flags & GPS_LOCATION_HAS_BEARING)
-    {
-        float magTrack = location.gpsLocation.bearing;
         if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_MAG_DEV)
         {
-            float magTrack = location.gpsLocation.bearing - locationExtended.magneticDeviation;
+            float magneticVariation = locationExtended.magneticDeviation;
-            if (magTrack < 0.0)
+            char direction;
-                magTrack += 360.0;
+            if (magneticVariation < 0.0)
-            else if (magTrack > 360.0)
+            {
-                magTrack -= 360.0;
+                direction = 'W';
-        }
+                magneticVariation *= -1.0;
+            }
+            else
+            {
+                direction = 'E';
+            }
 
-        length = snprintf(pMarker, lengthRemaining, "$GPVTG,%.1lf,T,%.1lf,M,", location.gpsLocation.bearing, magTrack);
+            length = snprintf(pMarker, lengthRemaining, "%.1lf,%c,",
-    }
+                              magneticVariation, direction);
-    else
-    {
-        length = snprintf(pMarker, lengthRemaining, "$GPVTG,,T,,M,");
-    }
-
-    if (length < 0 || length >= lengthRemaining)
-    {
-        LOC_LOGE("NMEA Error in string formatting");
-        return;
-    }
-    pMarker += length;
-    lengthRemaining -= length;
-
-    if (location.gpsLocation.flags & GPS_LOCATION_HAS_SPEED)
-    {
-        float speedKnots = location.gpsLocation.speed * (3600.0/1852.0);
-        float speedKmPerHour = location.gpsLocation.speed * 3.6;
-
-        length = snprintf(pMarker, lengthRemaining, "%.1lf,N,%.1lf,K,", speedKnots, speedKmPerHour);
-    }
-    else
-    {
-        length = snprintf(pMarker, lengthRemaining, ",N,,K,");
-    }
-
-    if (length < 0 || length >= lengthRemaining)
-    {
-        LOC_LOGE("NMEA Error in string formatting");
-        return;
-    }
-    pMarker += length;
-    lengthRemaining -= length;
-
-    if (!(location.gpsLocation.flags & GPS_LOCATION_HAS_LAT_LONG))
-        length = snprintf(pMarker, lengthRemaining, "%c", 'N'); // N means no fix
-    else if (LOC_POSITION_MODE_STANDALONE == loc_eng_data_p->client_handle->getPositionMode().mode)
-        length = snprintf(pMarker, lengthRemaining, "%c", 'A'); // A means autonomous
-    else
-        length = snprintf(pMarker, lengthRemaining, "%c", 'D'); // D means differential
-
-    length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence));
-    loc_eng_nmea_send(sentence, length, loc_eng_data_p);
-
-    // ------------------
-    // ------$GPRMC------
-    // ------------------
-
-    pMarker = sentence;
-    lengthRemaining = sizeof(sentence);
-
-    length = snprintf(pMarker, lengthRemaining, "$GPRMC,%02d%02d%02d,A," ,
-                      utcHours, utcMinutes, utcSeconds);
-
-    if (length < 0 || length >= lengthRemaining)
-    {
-        LOC_LOGE("NMEA Error in string formatting");
-        return;
-    }
-    pMarker += length;
-    lengthRemaining -= length;
-
-    if (location.gpsLocation.flags & GPS_LOCATION_HAS_LAT_LONG)
-    {
-        double latitude = location.gpsLocation.latitude;
-        double longitude = location.gpsLocation.longitude;
-        char latHemisphere;
-        char lonHemisphere;
-        double latMinutes;
-        double lonMinutes;
-
-        if (latitude > 0)
-        {
-            latHemisphere = 'N';
         }
         else
         {
-            latHemisphere = 'S';
+            length = snprintf(pMarker, lengthRemaining, ",,");
-            latitude *= -1.0;
         }
 
-        if (longitude < 0)
+        if (length < 0 || length >= lengthRemaining)
         {
-            lonHemisphere = 'W';
+            LOC_LOGE("NMEA Error in string formatting");
-            longitude *= -1.0;
+            return;
+        }
+        pMarker += length;
+        lengthRemaining -= length;
+
+        if (!(location.gpsLocation.flags & GPS_LOCATION_HAS_LAT_LONG))
+            length = snprintf(pMarker, lengthRemaining, "%c", 'N'); // N means no fix
+        else if (LOC_POSITION_MODE_STANDALONE == loc_eng_data_p->client_handle->getPositionMode().mode)
+            length = snprintf(pMarker, lengthRemaining, "%c", 'A'); // A means autonomous
+        else
+            length = snprintf(pMarker, lengthRemaining, "%c", 'D'); // D means differential
+
+        length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence));
+        loc_eng_nmea_send(sentence, length, loc_eng_data_p);
+
+        // ------------------
+        // ------$GPGGA------
+        // ------------------
+
+        pMarker = sentence;
+        lengthRemaining = sizeof(sentence);
+
+        length = snprintf(pMarker, lengthRemaining, "$GPGGA,%02d%02d%02d," ,
+                          utcHours, utcMinutes, utcSeconds);
+
+        if (length < 0 || length >= lengthRemaining)
+        {
+            LOC_LOGE("NMEA Error in string formatting");
+            return;
+        }
+        pMarker += length;
+        lengthRemaining -= length;
+
+        if (location.gpsLocation.flags & GPS_LOCATION_HAS_LAT_LONG)
+        {
+            double latitude = location.gpsLocation.latitude;
+            double longitude = location.gpsLocation.longitude;
+            char latHemisphere;
+            char lonHemisphere;
+            double latMinutes;
+            double lonMinutes;
+
+            if (latitude > 0)
+            {
+                latHemisphere = 'N';
+            }
+            else
+            {
+                latHemisphere = 'S';
+                latitude *= -1.0;
+            }
+
+            if (longitude < 0)
+            {
+                lonHemisphere = 'W';
+                longitude *= -1.0;
+            }
+            else
+            {
+                lonHemisphere = 'E';
+            }
+
+            latMinutes = fmod(latitude * 60.0 , 60.0);
+            lonMinutes = fmod(longitude * 60.0 , 60.0);
+
+            length = snprintf(pMarker, lengthRemaining, "%02d%09.6lf,%c,%03d%09.6lf,%c,",
+                              (uint8_t)floor(latitude), latMinutes, latHemisphere,
+                              (uint8_t)floor(longitude),lonMinutes, lonHemisphere);
         }
         else
         {
-            lonHemisphere = 'E';
+            length = snprintf(pMarker, lengthRemaining,",,,,");
         }
 
-        latMinutes = fmod(latitude * 60.0 , 60.0);
+        if (length < 0 || length >= lengthRemaining)
-        lonMinutes = fmod(longitude * 60.0 , 60.0);
-
-        length = snprintf(pMarker, lengthRemaining, "%02d%09.6lf,%c,%03d%09.6lf,%c,",
-                          (uint8_t)floor(latitude), latMinutes, latHemisphere,
-                          (uint8_t)floor(longitude),lonMinutes, lonHemisphere);
-    }
-    else
-    {
-        length = snprintf(pMarker, lengthRemaining,",,,,");
-    }
-
-    if (length < 0 || length >= lengthRemaining)
-    {
-        LOC_LOGE("NMEA Error in string formatting");
-        return;
-    }
-    pMarker += length;
-    lengthRemaining -= length;
-
-    if (location.gpsLocation.flags & GPS_LOCATION_HAS_SPEED)
-    {
-        float speedKnots = location.gpsLocation.speed * (3600.0/1852.0);
-        length = snprintf(pMarker, lengthRemaining, "%.1lf,", speedKnots);
-    }
-    else
-    {
-        length = snprintf(pMarker, lengthRemaining, ",");
-    }
-
-    if (length < 0 || length >= lengthRemaining)
-    {
-        LOC_LOGE("NMEA Error in string formatting");
-        return;
-    }
-    pMarker += length;
-    lengthRemaining -= length;
-
-    if (location.gpsLocation.flags & GPS_LOCATION_HAS_BEARING)
-    {
-        length = snprintf(pMarker, lengthRemaining, "%.1lf,", location.gpsLocation.bearing);
-    }
-    else
-    {
-        length = snprintf(pMarker, lengthRemaining, ",");
-    }
-
-    if (length < 0 || length >= lengthRemaining)
-    {
-        LOC_LOGE("NMEA Error in string formatting");
-        return;
-    }
-    pMarker += length;
-    lengthRemaining -= length;
-
-    length = snprintf(pMarker, lengthRemaining, "%2.2d%2.2d%2.2d,",
-                      utcDay, utcMonth, utcYear);
-
-    if (length < 0 || length >= lengthRemaining)
-    {
-        LOC_LOGE("NMEA Error in string formatting");
-        return;
-    }
-    pMarker += length;
-    lengthRemaining -= length;
-
-    if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_MAG_DEV)
-    {
-        float magneticVariation = locationExtended.magneticDeviation;
-        char direction;
-        if (magneticVariation < 0.0)
         {
-            direction = 'W';
+            LOC_LOGE("NMEA Error in string formatting");
-            magneticVariation *= -1.0;
+            return;
+        }
+        pMarker += length;
+        lengthRemaining -= length;
+
+        char gpsQuality;
+        if (!(location.gpsLocation.flags & GPS_LOCATION_HAS_LAT_LONG))
+            gpsQuality = '0'; // 0 means no fix
+        else if (LOC_POSITION_MODE_STANDALONE == loc_eng_data_p->client_handle->getPositionMode().mode)
+            gpsQuality = '1'; // 1 means GPS fix
+        else
+            gpsQuality = '2'; // 2 means DGPS fix
+
+        if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_DOP)
+        {   // dop is in locationExtended, (QMI)
+            length = snprintf(pMarker, lengthRemaining, "%c,%02d,%.1f,",
+                              gpsQuality, svUsedCount, locationExtended.hdop);
+        }
+        else if (loc_eng_data_p->pdop > 0 && loc_eng_data_p->hdop > 0 && loc_eng_data_p->vdop > 0)
+        {   // dop was cached from sv report (RPC)
+            length = snprintf(pMarker, lengthRemaining, "%c,%02d,%.1f,",
+                              gpsQuality, svUsedCount, loc_eng_data_p->hdop);
+        }
+        else
+        {   // no hdop
+            length = snprintf(pMarker, lengthRemaining, "%c,%02d,,",
+                              gpsQuality, svUsedCount);
+        }
+
+        if (length < 0 || length >= lengthRemaining)
+        {
+            LOC_LOGE("NMEA Error in string formatting");
+            return;
+        }
+        pMarker += length;
+        lengthRemaining -= length;
+
+        if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_ALTITUDE_MEAN_SEA_LEVEL)
+        {
+            length = snprintf(pMarker, lengthRemaining, "%.1lf,M,",
+                              locationExtended.altitudeMeanSeaLevel);
         }
         else
         {
-            direction = 'E';
+            length = snprintf(pMarker, lengthRemaining,",,");
         }
 
-        length = snprintf(pMarker, lengthRemaining, "%.1lf,%c,",
+        if (length < 0 || length >= lengthRemaining)
-                          magneticVariation, direction);
-    }
-    else
-    {
-        length = snprintf(pMarker, lengthRemaining, ",,");
-    }
-
-    if (length < 0 || length >= lengthRemaining)
-    {
-        LOC_LOGE("NMEA Error in string formatting");
-        return;
-    }
-    pMarker += length;
-    lengthRemaining -= length;
-
-    if (!(location.gpsLocation.flags & GPS_LOCATION_HAS_LAT_LONG))
-        length = snprintf(pMarker, lengthRemaining, "%c", 'N'); // N means no fix
-    else if (LOC_POSITION_MODE_STANDALONE == loc_eng_data_p->client_handle->getPositionMode().mode)
-        length = snprintf(pMarker, lengthRemaining, "%c", 'A'); // A means autonomous
-    else
-        length = snprintf(pMarker, lengthRemaining, "%c", 'D'); // D means differential
-
-    length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence));
-    loc_eng_nmea_send(sentence, length, loc_eng_data_p);
-
-    // ------------------
-    // ------$GPGGA------
-    // ------------------
-
-    pMarker = sentence;
-    lengthRemaining = sizeof(sentence);
-
-    length = snprintf(pMarker, lengthRemaining, "$GPGGA,%02d%02d%02d," ,
-                      utcHours, utcMinutes, utcSeconds);
-
-    if (length < 0 || length >= lengthRemaining)
-    {
-        LOC_LOGE("NMEA Error in string formatting");
-        return;
-    }
-    pMarker += length;
-    lengthRemaining -= length;
-
-    if (location.gpsLocation.flags & GPS_LOCATION_HAS_LAT_LONG)
-    {
-        double latitude = location.gpsLocation.latitude;
-        double longitude = location.gpsLocation.longitude;
-        char latHemisphere;
-        char lonHemisphere;
-        double latMinutes;
-        double lonMinutes;
-
-        if (latitude > 0)
         {
-            latHemisphere = 'N';
+            LOC_LOGE("NMEA Error in string formatting");
+            return;
+        }
+        pMarker += length;
+        lengthRemaining -= length;
+
+        if ((location.gpsLocation.flags & GPS_LOCATION_HAS_ALTITUDE) &&
+            (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_ALTITUDE_MEAN_SEA_LEVEL))
+        {
+            length = snprintf(pMarker, lengthRemaining, "%.1lf,M,,",
+                              location.gpsLocation.altitude - locationExtended.altitudeMeanSeaLevel);
         }
         else
         {
-            latHemisphere = 'S';
+            length = snprintf(pMarker, lengthRemaining,",,,");
-            latitude *= -1.0;
         }
 
-        if (longitude < 0)
+        length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence));
-        {
+        loc_eng_nmea_send(sentence, length, loc_eng_data_p);
-            lonHemisphere = 'W';
-            longitude *= -1.0;
-        }
-        else
-        {
-            lonHemisphere = 'E';
-        }
 
-        latMinutes = fmod(latitude * 60.0 , 60.0);
+    }
-        lonMinutes = fmod(longitude * 60.0 , 60.0);
+    //Send blank NMEA reports for non-final fixes
+    else {
+        strlcpy(sentence, "$GPGSA,A,1,,,,,,,,,,,,,,,", sizeof(sentence));
+        length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence));
+        loc_eng_nmea_send(sentence, length, loc_eng_data_p);
 
-        length = snprintf(pMarker, lengthRemaining, "%02d%09.6lf,%c,%03d%09.6lf,%c,",
+        strlcpy(sentence, "$GPVTG,,T,,M,,N,,K,N", sizeof(sentence));
-                          (uint8_t)floor(latitude), latMinutes, latHemisphere,
+        length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence));
-                          (uint8_t)floor(longitude),lonMinutes, lonHemisphere);
+        loc_eng_nmea_send(sentence, length, loc_eng_data_p);
-    }
-    else
-    {
-        length = snprintf(pMarker, lengthRemaining,",,,,");
-    }
 
-    if (length < 0 || length >= lengthRemaining)
+        strlcpy(sentence, "$GPRMC,,V,,,,,,,,,,N", sizeof(sentence));
-    {
+        length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence));
-        LOC_LOGE("NMEA Error in string formatting");
+        loc_eng_nmea_send(sentence, length, loc_eng_data_p);
-        return;
-    }
-    pMarker += length;
-    lengthRemaining -= length;
 
-    char gpsQuality;
+        strlcpy(sentence, "$GPGGA,,,,,,0,,,,,,,,", sizeof(sentence));
-    if (!(location.gpsLocation.flags & GPS_LOCATION_HAS_LAT_LONG))
+        length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence));
-        gpsQuality = '0'; // 0 means no fix
+        loc_eng_nmea_send(sentence, length, loc_eng_data_p);
-    else if (LOC_POSITION_MODE_STANDALONE == loc_eng_data_p->client_handle->getPositionMode().mode)
-        gpsQuality = '1'; // 1 means GPS fix
-    else
-        gpsQuality = '2'; // 2 means DGPS fix
-
-    if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_DOP)
-    {   // dop is in locationExtended, (QMI)
-        length = snprintf(pMarker, lengthRemaining, "%c,%02d,%.1f,",
-                          gpsQuality, svUsedCount, locationExtended.hdop);
     }
-    else if (loc_eng_data_p->pdop > 0 && loc_eng_data_p->hdop > 0 && loc_eng_data_p->vdop > 0)
-    {   // dop was cached from sv report (RPC)
-        length = snprintf(pMarker, lengthRemaining, "%c,%02d,%.1f,",
-                          gpsQuality, svUsedCount, loc_eng_data_p->hdop);
-    }
-    else
-    {   // no hdop
-        length = snprintf(pMarker, lengthRemaining, "%c,%02d,,",
-                          gpsQuality, svUsedCount);
-    }
-
-    if (length < 0 || length >= lengthRemaining)
-    {
-        LOC_LOGE("NMEA Error in string formatting");
-        return;
-    }
-    pMarker += length;
-    lengthRemaining -= length;
-
-    if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_ALTITUDE_MEAN_SEA_LEVEL)
-    {
-        length = snprintf(pMarker, lengthRemaining, "%.1lf,M,",
-                          locationExtended.altitudeMeanSeaLevel);
-    }
-    else
-    {
-        length = snprintf(pMarker, lengthRemaining,",,");
-    }
-
-    if (length < 0 || length >= lengthRemaining)
-    {
-        LOC_LOGE("NMEA Error in string formatting");
-        return;
-    }
-    pMarker += length;
-    lengthRemaining -= length;
-
-    if ((location.gpsLocation.flags & GPS_LOCATION_HAS_ALTITUDE) &&
-        (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_ALTITUDE_MEAN_SEA_LEVEL))
-    {
-        length = snprintf(pMarker, lengthRemaining, "%.1lf,M,,",
-                          location.gpsLocation.altitude - locationExtended.altitudeMeanSeaLevel);
-    }
-    else
-    {
-        length = snprintf(pMarker, lengthRemaining,",,,");
-    }
-
-    length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence));
-    loc_eng_nmea_send(sentence, length, loc_eng_data_p);
-
     // clear the dop cache so they can't be used again
     loc_eng_data_p->pdop = 0;
     loc_eng_data_p->hdop = 0;

loc_api/libloc_api_50001/loc_eng_nmea.h

@@ -37,6 +37,6 @@
 void loc_eng_nmea_send(char *pNmea, int length, loc_eng_data_s_type *loc_eng_data_p);
 int loc_eng_nmea_put_checksum(char *pNmea, int maxSize);
 void loc_eng_nmea_generate_sv(loc_eng_data_s_type *loc_eng_data_p, const GpsSvStatus &svStatus, const GpsLocationExtended &locationExtended);
-void loc_eng_nmea_generate_pos(loc_eng_data_s_type *loc_eng_data_p, const UlpLocation &location, const GpsLocationExtended &locationExtended);
+void loc_eng_nmea_generate_pos(loc_eng_data_s_type *loc_eng_data_p, const UlpLocation &location, const GpsLocationExtended &locationExtended, unsigned char generate_nmea);
 
 #endif // LOC_ENG_NMEA_H