def _process_HNR_PVT(self, data: UBXMessage):
"""
Process HNR-PVT sentence - High Rate Navigation position velocity time solution.
:param UBXMessage data: HNR-PVT parsed message
"""
try:
self.utc = itow2utc(data.iTOW)
self.lat = data.lat / 10**7
self.lon = data.lon / 10**7
self.alt = data.hMSL / 1000
self.hacc = data.hAcc / 1000
self.vacc = data.vAcc / 1000
self.speed = data.gSpeed / 1000 # m/s
self.track = data.headMot / 10**5
fix = gpsfix2str(data.gpsFix)
self.__app.frm_banner.update_banner(
time=self.utc,
lat=self.lat,
lon=self.lon,
alt=self.alt,
hacc=self.hacc,
vacc=self.vacc,
speed=self.speed,
fix=fix,
track=self.track,
)
self.__app.frm_mapview.update_map(self.lat,
self.lon,
self.hacc,
fix=fix)
if (self.__app.frm_settings.record_track and self.lat != ""
and self.lon != ""):
time = (datetime(
data.year,
data.month,
data.day,
data.hour,
data.min,
data.second,
).isoformat() + "Z")
if fix == "3D":
fix = "3d"
elif fix == "2D":
fix = "2d"
else:
fix = "none"
self.__app.file_handler.add_trackpoint(
self.lat,
self.lon,
ele=self.alt,
time=time,
fix=fix,
)
except ValueError:
# self.__app.set_status(ube.UBXMessageError(err), "red")
pass
def _process_NAV_SOL(self, data: UBXMessage):
"""
Process NAV-SOL sentence - Navigation Solution.
:param UBXMessage data: NAV-SOL parsed message
"""
try:
self.pdop = data.pDOP / 100
self.sip = data.numSV
fix = gpsfix2str(data.gpsFix)
self.__app.frm_banner.update_banner(dop=self.pdop,
fix=fix,
sip=self.sip)
except ValueError:
# self.__app.set_status(ube.UBXMessageError(err), "red")
pass
def testgps2str(self):
fixs = ['NO FIX', 'DR', '2D', '3D', 'GPS + DR', 'TIME ONLY']
for i, fix in enumerate(range(0, 6)):
res = gpsfix2str(fix)
self.assertEqual(res, fixs[i])
def testgps2str(self):
fixs = ["NO FIX", "DR", "2D", "3D", "GPS + DR", "TIME ONLY"]
for i, fix in enumerate(range(0, 6)):
res = gpsfix2str(fix)
self.assertEqual(res, fixs[i])
