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PaulZCPaulZC
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Merge branch 'release_candidate' into Web_Config_Changes_for_EVK
2 parents d87a545 + ec2eb0c commit 72718d2

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+65
-20
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2 files changed

+65
-20
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‎Firmware/RTK_Everywhere/Tilt.ino

Lines changed: 63 additions & 18 deletions
Original file line numberDiff line numberDiff line change
@@ -442,6 +442,9 @@ void tiltSensorFactoryReset()
442442
// Given a NMEA sentence, modify the sentence to use the latest tilt-compensated lat/lon/alt
443443
// Modifies the sentence directly. Updates sentence CRC.
444444
// Auto-detects sentence type and will only modify sentences that have lat/lon/alt (ie GGA yes, GSV no)
445+
// Which sentences have altitude? Yes: GGA, GNS No: RMC, GLL
446+
// Which sentences have undulation? Yes: GGA, GNS No: RMC, GLL
447+
// See issue: https://github.com/sparkfun/SparkFun_RTK_Everywhere_Firmware/issues/334
445448
void tiltApplyCompensation(char *nmeaSentence, int arraySize)
446449
{
447450
// Verify the sentence is null-terminated
@@ -481,22 +484,31 @@ void tiltApplyCompensation(char *nmeaSentence, int arraySize)
481484
}
482485

483486
// Modify a GNS sentence with tilt compensation
484-
//$GNGGA,213441.00,4005.4176871,N,10511.1034563,W,1,12,99.99,1581.450,M,-21.361,M,,*7D - Original
485-
//$GNGGA,213441.00,4005.41769994,N,10507.40740734,W,1,12,99.99,1580.987,M,-21.361,M,,*7E - Modified
487+
//$GNGNS,024034.00,4004.73854216,N,11614.19720023,E,ANAAA,28,0.8,1574.406,-8.4923,,,S*71 - Original
488+
//$GNGNS,024034.00,4004.73854216,N,11614.19720023,E,ANAAA,28,0.8,1589.4793,-8.4923,,,S*7E - Modified
489+
// 1580.987 is what is provided by the IMU and is the ellisoidal height
490+
// 1580.987 is called 'ellipsoidal height' in SW Maps and includes the MSL + undulation
491+
// To get mean sea level: 1580.987 - -8.4923 = 1589.4793
492+
// 1589.4793 is the orthometric height in meters (MSL reference) that we need to insert into the NMEA sentence
493+
// See issue: https://github.com/sparkfun/SparkFun_RTK_Everywhere_Firmware/issues/334
494+
// https://support.virtual-surveyor.com/support/solutions/articles/1000261349-the-difference-between-ellipsoidal-geoid-and-orthometric-elevations-
486495
void tiltApplyCompensationGNS(char *nmeaSentence, int arraySize)
487496
{
488497
char coordinateStringDDMM[strlen("10511.12345678") + 1] = {0}; // UM980 outputs 8 decimals in GGA sentence
489498

490499
const int latitudeComma = 2;
491500
const int longitudeComma = 4;
492501
const int altitudeComma = 9;
502+
const int undulationComma = 10;
493503

494504
uint8_t latitudeStart = 0;
495505
uint8_t latitudeStop = 0;
496506
uint8_t longitudeStart = 0;
497507
uint8_t longitudeStop = 0;
498508
uint8_t altitudeStart = 0;
499509
uint8_t altitudeStop = 0;
510+
uint8_t undulationStart = 0;
511+
uint8_t undulationStop = 0;
500512
uint8_t checksumStart = 0;
501513

502514
int commaCount = 0;
@@ -507,16 +519,20 @@ void tiltApplyCompensationGNS(char *nmeaSentence, int arraySize)
507519
commaCount++;
508520
if (commaCount == latitudeComma)
509521
latitudeStart = x + 1;
510-
else if (commaCount == latitudeComma + 1)
522+
if (commaCount == latitudeComma + 1)
511523
latitudeStop = x;
512-
else if (commaCount == longitudeComma)
524+
if (commaCount == longitudeComma)
513525
longitudeStart = x + 1;
514-
else if (commaCount == longitudeComma + 1)
526+
if (commaCount == longitudeComma + 1)
515527
longitudeStop = x;
516-
else if (commaCount == altitudeComma)
528+
if (commaCount == altitudeComma)
517529
altitudeStart = x + 1;
518-
else if (commaCount == altitudeComma + 1)
530+
if (commaCount == altitudeComma + 1)
519531
altitudeStop = x;
532+
if (commaCount == undulationComma)
533+
undulationStart = x + 1;
534+
if (commaCount == undulationComma + 1)
535+
undulationStop = x;
520536
}
521537
if (nmeaSentence[x] == '*')
522538
{
@@ -526,12 +542,20 @@ void tiltApplyCompensationGNS(char *nmeaSentence, int arraySize)
526542
}
527543

528544
if (latitudeStart == 0 || latitudeStop == 0 || longitudeStart == 0 || longitudeStop == 0 || altitudeStart == 0 ||
529-
altitudeStop == 0 || checksumStart == 0)
545+
altitudeStop == 0 || undulationStart == 0 || undulationStop == 0 || checksumStart == 0)
530546
{
531547
systemPrintln("Delineator not found");
532548
return;
533549
}
534550

551+
// Extract the undulation
552+
char undulationStr[strlen("-1602.3481") + 1]; // 4 decimals
553+
strncpy(undulationStr, &nmeaSentence[undulationStart], undulationStop - undulationStart);
554+
float undulation = (float)atof(undulationStr);
555+
556+
// Remove the undulation from the IMU's altitude
557+
float orthometricHeight = tiltSensor->getNaviAltitude() - undulation;
558+
535559
char newSentence[150] = {0};
536560

537561
if (sizeof(newSentence) < arraySize)
@@ -565,7 +589,7 @@ void tiltApplyCompensationGNS(char *nmeaSentence, int arraySize)
565589
strncat(newSentence, nmeaSentence + longitudeStop, altitudeStart - longitudeStop);
566590

567591
// Convert altitude double to string
568-
snprintf(coordinateStringDDMM, sizeof(coordinateStringDDMM), "%0.3f", tiltSensor->getNaviAltitude());
592+
snprintf(coordinateStringDDMM, sizeof(coordinateStringDDMM), "%0.3f", orthometricHeight);
569593

570594
// Add tilt-compensated Altitude
571595
strncat(newSentence, coordinateStringDDMM, sizeof(newSentence) - 1);
@@ -769,20 +793,29 @@ void tiltApplyCompensationRMC(char *nmeaSentence, int arraySize)
769793
}
770794

771795
// Modify a GGA sentence with tilt compensation
772-
//$GNGGA,213441.00,4005.4176871,N,10511.1034563,W,1,12,99.99,1581.450,M,-21.361,M,,*7D - Original
773-
//$GNGGA,213441.00,4005.41769994,N,10507.40740734,W,1,12,99.99,1580.987,M,-21.361,M,,*7E - Modified
796+
//$GNGGA,213441.00,4005.4176871,N,10511.1034563,W,1,12,99.99,1581.450,M,-21.3612,M,,*7D - Original
797+
//$GNGGA,213441.00,4005.41769994,N,10507.40740734,W,1,12,99.99,1602.348,M,-21.3612,M,,*4C - Modified
798+
// 1580.987 is what is provided by the IMU and is the ellisoidal height
799+
//'Ellipsoidal height' includes the MSL + undulation
800+
// To get mean sea level: 1580.987 - -21.3612 = 1602.3482
801+
// 1602.3482 is the orthometric height in meters (MSL reference) that we need to insert into the NMEA sentence
802+
// See issue: https://github.com/sparkfun/SparkFun_RTK_Everywhere_Firmware/issues/334
803+
// https://support.virtual-surveyor.com/support/solutions/articles/1000261349-the-difference-between-ellipsoidal-geoid-and-orthometric-elevations-
774804
void tiltApplyCompensationGGA(char *nmeaSentence, int arraySize)
775805
{
776806
const int latitudeComma = 2;
777807
const int longitudeComma = 4;
778808
const int altitudeComma = 9;
809+
const int undulationComma = 11;
779810

780811
uint8_t latitudeStart = 0;
781812
uint8_t latitudeStop = 0;
782813
uint8_t longitudeStart = 0;
783814
uint8_t longitudeStop = 0;
784815
uint8_t altitudeStart = 0;
785816
uint8_t altitudeStop = 0;
817+
uint8_t undulationStart = 0;
818+
uint8_t undulationStop = 0;
786819
uint8_t checksumStart = 0;
787820

788821
if (settings.enableImuCompensationDebug == true)
@@ -796,16 +829,20 @@ void tiltApplyCompensationGGA(char *nmeaSentence, int arraySize)
796829
commaCount++;
797830
if (commaCount == latitudeComma)
798831
latitudeStart = x + 1;
799-
else if (commaCount == latitudeComma + 1)
832+
if (commaCount == latitudeComma + 1)
800833
latitudeStop = x;
801-
else if (commaCount == longitudeComma)
834+
if (commaCount == longitudeComma)
802835
longitudeStart = x + 1;
803-
else if (commaCount == longitudeComma + 1)
836+
if (commaCount == longitudeComma + 1)
804837
longitudeStop = x;
805-
else if (commaCount == altitudeComma)
838+
if (commaCount == altitudeComma)
806839
altitudeStart = x + 1;
807-
else if (commaCount == altitudeComma + 1)
840+
if (commaCount == altitudeComma + 1)
808841
altitudeStop = x;
842+
if (commaCount == undulationComma)
843+
undulationStart = x + 1;
844+
if (commaCount == undulationComma + 1)
845+
undulationStop = x;
809846
}
810847
if (nmeaSentence[x] == '*')
811848
{
@@ -815,12 +852,20 @@ void tiltApplyCompensationGGA(char *nmeaSentence, int arraySize)
815852
}
816853

817854
if (latitudeStart == 0 || latitudeStop == 0 || longitudeStart == 0 || longitudeStop == 0 || altitudeStart == 0 ||
818-
altitudeStop == 0 || checksumStart == 0)
855+
altitudeStop == 0 || undulationStart == 0 || undulationStop == 0 || checksumStart == 0)
819856
{
820857
systemPrintln("Delineator not found");
821858
return;
822859
}
823860

861+
// Extract the undulation
862+
char undulationStr[strlen("-1602.3481") + 1]; // 4 decimals
863+
strncpy(undulationStr, &nmeaSentence[undulationStart], undulationStop - undulationStart);
864+
float undulation = (float)atof(undulationStr);
865+
866+
// Remove the undulation from the IMU's altitude
867+
float orthometricHeight = tiltSensor->getNaviAltitude() - undulation;
868+
824869
char newSentence[150] = {0};
825870

826871
if (sizeof(newSentence) < arraySize)
@@ -856,7 +901,7 @@ void tiltApplyCompensationGGA(char *nmeaSentence, int arraySize)
856901
strncat(newSentence, nmeaSentence + longitudeStop, altitudeStart - longitudeStop);
857902

858903
// Convert altitude double to string
859-
snprintf(coordinateStringDDMM, sizeof(coordinateStringDDMM), "%0.3f", tiltSensor->getNaviAltitude());
904+
snprintf(coordinateStringDDMM, sizeof(coordinateStringDDMM), "%0.3f", orthometricHeight);
860905

861906
// Add tilt-compensated Altitude
862907
strncat(newSentence, coordinateStringDDMM, sizeof(newSentence) - 1);

‎Firmware/RTK_Everywhere/form.h

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -26,7 +26,7 @@
2626
// python main_js_zipper.py
2727

2828
static const uint8_t main_js[] PROGMEM = {
29-
0x1F, 0x8B, 0x08, 0x08, 0xA0, 0x6A, 0x68, 0x66, 0x02, 0xFF, 0x6D, 0x61, 0x69, 0x6E, 0x2E, 0x6A,
29+
0x1F, 0x8B, 0x08, 0x08, 0x47, 0xE8, 0x69, 0x66, 0x02, 0xFF, 0x6D, 0x61, 0x69, 0x6E, 0x2E, 0x6A,
3030
0x73, 0x2E, 0x67, 0x7A, 0x69, 0x70, 0x00, 0xED, 0x7D, 0xEB, 0x7A, 0xDB, 0x38, 0x92, 0xE8, 0xFF,
3131
0x3C, 0x05, 0x46, 0x3B, 0xA7, 0x25, 0x8D, 0x65, 0x99, 0x92, 0x2F, 0xB1, 0xE3, 0x38, 0x7B, 0x6C,
3232
0xCB, 0x4E, 0x7C, 0xDA, 0x17, 0x7D, 0x96, 0x93, 0x74, 0x3A, 0x93, 0xE3, 0xA5, 0x45, 0x58, 0xE6,
@@ -892,7 +892,7 @@ static const uint8_t main_js[] PROGMEM = {
892892
// python index_html_zipper.py
893893

894894
static const uint8_t index_html[] PROGMEM = {
895-
0x1F, 0x8B, 0x08, 0x08, 0xA0, 0x6A, 0x68, 0x66, 0x02, 0xFF, 0x69, 0x6E, 0x64, 0x65, 0x78, 0x2E,
895+
0x1F, 0x8B, 0x08, 0x08, 0x47, 0xE8, 0x69, 0x66, 0x02, 0xFF, 0x69, 0x6E, 0x64, 0x65, 0x78, 0x2E,
896896
0x68, 0x74, 0x6D, 0x6C, 0x2E, 0x67, 0x7A, 0x69, 0x70, 0x00, 0xED, 0x7D, 0xDB, 0x72, 0xDB, 0xC8,
897897
0x92, 0xE0, 0x7B, 0x7F, 0x45, 0x1D, 0xCE, 0xCE, 0x48, 0x9E, 0x11, 0x29, 0x5E, 0x24, 0x59, 0xD6,
898898
0xB1, 0x15, 0xA1, 0xAB, 0xAD, 0x3D, 0x92, 0xCD, 0x11, 0xE5, 0xD3, 0x97, 0x8D, 0xDD, 0x0E, 0x08,

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