494 lines
16 KiB
C++
494 lines
16 KiB
C++
#ifdef HAVE_CONFIG_H
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# include <config.h>
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#endif
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#include <iostream>
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#include <simgear/constants.h>
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#include <simgear/io/sg_file.hxx>
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#include <simgear/math/sg_geodesy.hxx>
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#include <simgear/misc/sgstream.hxx>
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#include <simgear/misc/strutils.hxx>
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#include <simgear/misc/stdint.hxx>
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#include "MIDG-II.hxx"
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SG_USING_STD(cout);
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SG_USING_STD(endl);
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MIDGTrack::MIDGTrack() {};
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MIDGTrack::~MIDGTrack() {};
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static uint32_t read_swab( char *buf, size_t offset, size_t size ) {
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uint32_t result = 0;
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char *ptr = buf + offset;
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// MIDG data is big endian so swap if needed.
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if ( sgIsLittleEndian() ) {
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if ( size == 4 ) {
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sgEndianSwap( (uint32_t *)ptr );
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} else if ( size == 2 ) {
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sgEndianSwap( (uint16_t *)ptr );
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}
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}
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if ( size == 4 ) {
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result = *(uint32_t *)ptr;
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} else if ( size == 2 ) {
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result = *(uint16_t *)ptr;
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} else if ( size == 1 ) {
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result = *(uint8_t *)ptr;
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} else {
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cout << "unknown size in read_swab()" << endl;
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}
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return result;
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}
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static bool validate_cksum( uint8_t id, uint8_t size, char *buf,
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uint8_t cksum0, uint8_t cksum1 )
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{
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uint8_t c0 = 0;
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uint8_t c1 = 0;
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c0 += id;
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c1 += c0;
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// cout << "c0 = " << (unsigned int)c0 << " c1 = " << (unsigned int)c1 << endl;
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c0 += size;
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c1 += c0;
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// cout << "c0 = " << (unsigned int)c0 << " c1 = " << (unsigned int)c1 << endl;
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for ( uint8_t i = 0; i < size; i++ ) {
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c0 += (uint8_t)buf[i];
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c1 += c0;
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// cout << "c0 = " << (unsigned int)c0 << " c1 = " << (unsigned int)c1
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// << " [" << (unsigned int)buf[i] << "]" << endl;
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}
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// cout << "c0 = " << (unsigned int)c0 << " (" << (unsigned int)cksum0
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// << ") c1 = " << (unsigned int)c1 << " (" << (unsigned int)cksum1
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// << ")" << endl;
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if ( c0 == cksum0 && c1 == cksum1 ) {
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return true;
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} else {
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return false;
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}
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}
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void MIDGTrack::parse_msg( const int id, char *buf, MIDGpos *pos, MIDGatt *att )
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{
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if ( id == 1 ) {
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uint32_t ts;
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uint16_t status;
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int16_t temp;
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// cout << "message 1 =" << endl;
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// timestamp
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ts = (uint32_t)read_swab( buf, 0, 4 );
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// cout << " time stamp = " << ts << endl;
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// status
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status = (uint16_t)read_swab( buf, 4, 2 );
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// cout << " status = " << status << endl;
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// temp
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temp = (int16_t)read_swab( buf, 6, 2 );
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// cout << " temp = " << temp << endl;
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} else if ( id == 2 ) {
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uint32_t ts;
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int16_t p, q, r;
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int16_t ax, ay, az;
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int16_t mx, my, mz;
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uint8_t flags;
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// cout << "message 2 =" << endl;
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// timestamp
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ts = (uint32_t)read_swab( buf, 0, 4 );
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// cout << " time stamp = " << ts << endl;
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// p, q, r
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p = (int16_t)read_swab( buf, 4, 2 );
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q = (int16_t)read_swab( buf, 6, 2 );
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r = (int16_t)read_swab( buf, 8, 2 );
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// cout << " pqr = " << p << "," << q << "," << r << endl;
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// ax, ay, az
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ax = (int16_t)read_swab( buf, 10, 2 );
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ay = (int16_t)read_swab( buf, 12, 2 );
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az = (int16_t)read_swab( buf, 14, 2 );
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// cout << " ax ay az = " << ax << "," << ay << "," << az << endl;
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// mx, my, mz
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mx = (int16_t)read_swab( buf, 16, 2 );
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my = (int16_t)read_swab( buf, 18, 2 );
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mz = (int16_t)read_swab( buf, 20, 2 );
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// cout << " mx my mz = " << mx << "," << my << "," << mz << endl;
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// flags
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flags = (uint8_t)read_swab( buf, 22, 1 );
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// cout << " GPS 1PPS flag = " << (int)(flags & (1 << 6))
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// << " Timestamp is gps = " << (int)(flags & (1 << 7)) << endl;
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} else if ( id == 3 ) {
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uint32_t ts;
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int16_t mx, my, mz;
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uint8_t flags;
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// cout << "message 3 =" << endl;
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// timestamp
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ts = (uint32_t)read_swab( buf, 0, 4 );
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// cout << " time stamp = " << ts << endl;
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// mx, my, mz
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mx = (int16_t)read_swab( buf, 4, 2 );
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my = (int16_t)read_swab( buf, 6, 2 );
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mz = (int16_t)read_swab( buf, 8, 2 );
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// cout << " mx my mz = " << mx << "," << my << "," << mz << endl;
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// flags
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flags = (uint8_t)read_swab( buf, 10, 1 );
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// cout << " GPS 1PPS flag = " << (int)(flags & (1 << 6)) << endl;
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} else if ( id == 10 ) {
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uint32_t ts;
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int16_t p, q, r;
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int16_t ax, ay, az;
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int16_t yaw, pitch, roll;
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int32_t Qw, Qx, Qy, Qz;
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uint8_t flags;
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// cout << "message 10 =" << endl;
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// timestamp
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ts = (uint32_t)read_swab( buf, 0, 4 );
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// cout << " att time stamp = " << ts << endl;
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att->midg_time = MIDGTime( ts );
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// p, q, r
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p = (int16_t)read_swab( buf, 4, 2 );
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q = (int16_t)read_swab( buf, 6, 2 );
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r = (int16_t)read_swab( buf, 8, 2 );
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// cout << " pqr = " << p << "," << q << "," << r << endl;
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// ax, ay, az
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ax = (int16_t)read_swab( buf, 10, 2 );
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ay = (int16_t)read_swab( buf, 12, 2 );
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az = (int16_t)read_swab( buf, 14, 2 );
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// cout << " ax ay az = " << ax << "," << ay << "," << az << endl;
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// yaw, pitch, roll
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yaw = (int16_t)read_swab( buf, 16, 2 );
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pitch = (int16_t)read_swab( buf, 18, 2 );
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roll = (int16_t)read_swab( buf, 20, 2 );
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// cout << " yaw, pitch, roll = " << yaw << "," << pitch << ","
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// << roll << endl;
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att->yaw_rad = ( (double)yaw / 100.0 ) * SG_PI / 180.0;
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att->pitch_rad = ( (double)pitch / 100.0 ) * SG_PI / 180.0;
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att->roll_rad = ( (double)roll / 100.0 ) * SG_PI / 180.0;
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// Qw, Qx, Qy, Qz
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Qw = (int32_t)read_swab( buf, 22, 4 );
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Qx = (int32_t)read_swab( buf, 26, 4 );
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Qy = (int32_t)read_swab( buf, 30, 4 );
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Qz = (int32_t)read_swab( buf, 34, 4 );
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// cout << " Qw,Qx,Qy,Qz = " << Qw << "," << Qx << "," << Qy << ","
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// << Qz << endl;
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// flags
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flags = (uint8_t)read_swab( buf, 38, 1 );
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// cout << " External hdg measurement applied = "
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// << (int)(flags & (1 << 3)) << endl
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// << " Magnatometer measurement applied = "
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// << (int)(flags & (1 << 4)) << endl
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// << " DGPS = " << (int)(flags & (1 << 5)) << endl
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// << " Timestamp is gps = " << (int)(flags & (1 << 6)) << endl
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// << " INS mode = " << (int)(flags & (1 << 7))
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// << endl;
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} else if ( id == 12 ) {
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uint32_t ts;
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int32_t posx, posy, posz;
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int32_t velx, vely, velz;
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uint8_t flags;
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// cout << "message 12 =" << endl;
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// timestamp
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ts = (uint32_t)read_swab( buf, 0, 4 );
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// cout << " pos time stamp = " << ts << endl;
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pos->midg_time = MIDGTime( ts );
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// posx, posy, posz
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posx = (int32_t)read_swab( buf, 4, 4 );
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posy = (int32_t)read_swab( buf, 8, 4 );
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posz = (int32_t)read_swab( buf, 12, 4 );
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// cout << " pos = " << posx << "," << posy << "," << posz << endl;
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double xyz[3];
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xyz[0] = posx/100; xyz[1] = posy/100; xyz[2] = posz/100;
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double lat, lon, alt;
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sgCartToGeod(xyz, &lat, &lon, &alt);
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pos->lat_deg = lat * 180.0 / SG_PI;
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pos->lon_deg = lon * 180.0 / SG_PI;
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pos->altitude_msl = alt;
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// cout << " lon = " << pos->lon_deg << " lat = " << pos->lat_deg
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// << " alt = " << pos->altitude_msl << endl;
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// velx, vely, velz
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velx = (int32_t)read_swab( buf, 16, 4 );
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vely = (int32_t)read_swab( buf, 20, 4 );
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velz = (int32_t)read_swab( buf, 24, 4 );
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// cout << " vel = " << velx << "," << vely << "," << velz << endl;
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double tmp1 = velx*velx + vely*vely + velz*velz;
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double vel_cms = sqrt( tmp1 );
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double vel_ms = vel_cms / 100.0;
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pos->speed_kts = vel_ms * SG_METER_TO_NM * 3600;
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// flags
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flags = (uint8_t)read_swab( buf, 28, 1 );
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// cout << " ENU pos rel to 1st fix = " << (int)(flags & (1 << 0)) << endl
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// << " Velocity format = " << (int)(flags & (1 << 1)) << endl
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// << " bit 2 = " << (int)(flags & (1 << 2)) << endl
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// << " bit 3 = " << (int)(flags & (1 << 3)) << endl
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// << " GPS pos/vel valid = " << (int)(flags & (1 << 4)) << endl
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// << " DGPS = " << (int)(flags & (1 << 5)) << endl
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// << " Timestamp is gps = " << (int)(flags & (1 << 6)) << endl
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// << " Solution src (0=gps, 1=ins) = " << (int)(flags & (1 << 7))
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// << endl;
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} else if ( id == 20 ) {
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uint32_t gps_ts, gps_week;
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uint16_t details;
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int32_t gps_posx, gps_posy, gps_posz;
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int32_t gps_velx, gps_vely, gps_velz;
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int16_t pdop, pacc, sacc;
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// cout << "message 20 =" << endl;
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// timestamp -- often slightly off from midg time stamp so
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// let's not use gps ts to determine if we need to push the
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// previous data or not, just roll it into the current data
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// independent of time stamp.
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gps_ts = (uint32_t)read_swab( buf, 0, 4 );
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// pt->midg_time = MIDGTime( ts );
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gps_week = (uint16_t)read_swab( buf, 4, 2 );
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// cout << " gps time stamp = " << gps_ts << " week = " << gps_week
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// << endl;
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// details
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details = (uint16_t)read_swab( buf, 6, 2 );
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// cout << " details = " << details << endl;
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// gps_posx, gps_posy, gps_posz
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gps_posx = (int32_t)read_swab( buf, 8, 4 );
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gps_posy = (int32_t)read_swab( buf, 12, 4 );
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gps_posz = (int32_t)read_swab( buf, 16, 4 );
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// cout << " gps_pos = " << gps_posx << "," << gps_posy << ","
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// << gps_posz << endl;
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// gps_velx, gps_vely, gps_velz
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gps_velx = (int32_t)read_swab( buf, 20, 4 );
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gps_vely = (int32_t)read_swab( buf, 24, 4 );
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gps_velz = (int32_t)read_swab( buf, 28, 4 );
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// cout << " gps_vel = " << gps_velx << "," << gps_vely << ","
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// << gps_velz << endl;
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// position dop
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pdop = (uint16_t)read_swab( buf, 32, 2 );
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// cout << " pdop = " << pdop << endl;
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// position accuracy
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pacc = (uint16_t)read_swab( buf, 34, 2 );
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// cout << " pacc = " << pacc << endl;
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// speed accuracy
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sacc = (uint16_t)read_swab( buf, 36, 2 );
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// cout << " sacc = " << sacc << endl;
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} else {
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cout << "unknown id = " << id << endl;
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}
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}
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// load the specified file, return the number of records loaded
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bool MIDGTrack::load( const string &file ) {
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int count = 0;
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MIDGpos pos;
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MIDGatt att;
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uint32_t pos_time = 1;
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uint32_t att_time = 1;
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pos_data.clear();
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att_data.clear();
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// open the file
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SGFile input( file );
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if ( !input.open( SG_IO_IN ) ) {
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cout << "Cannot open file: " << file << endl;
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return false;
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}
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while ( ! input.eof() ) {
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// cout << "looking for next message ..." << endl;
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int id = next_message( &input, NULL, &pos, &att );
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count++;
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if ( id == 10 ) {
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if ( att.get_msec() > att_time ) {
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att_data.push_back( att );
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att_time = att.get_msec();
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} else {
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cout << "oops att back in time" << endl;
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}
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} else if ( id == 12 ) {
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if ( pos.get_msec() > pos_time ) {
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pos_data.push_back( pos );
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pos_time = pos.get_msec();
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} else {
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cout << "oops pos back in time" << endl;
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}
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}
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}
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cout << "processed " << count << " messages" << endl;
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return true;
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}
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// attempt to work around some system dependent issues. Our read can
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// return < data than we want.
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int myread( SGIOChannel *ch, SGIOChannel *log, char *buf, int length ) {
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bool myeof = false;
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int result = 0;
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while ( result != length && !myeof ) {
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result = ch->read( buf, length );
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if ( ch->get_type() == sgFileType ) {
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myeof = ((SGFile *)ch)->eof();
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}
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}
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if ( result > 0 && log != NULL ) {
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log->write( buf, result );
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}
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return result;
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}
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// load the next message of a real time data stream
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int MIDGTrack::next_message( SGIOChannel *ch, SGIOChannel *log,
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MIDGpos *pos, MIDGatt *att )
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{
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char tmpbuf[256];
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char savebuf[256];
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// cout << "in next_message()" << endl;
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bool myeof = false;
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// scan for sync characters
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uint8_t sync0, sync1;
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myread( ch, log, tmpbuf, 1 ); sync0 = (unsigned char)tmpbuf[0];
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myread( ch, log, tmpbuf, 1 ); sync1 = (unsigned char)tmpbuf[0];
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while ( (sync0 != 129 || sync1 != 161) && !myeof ) {
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sync0 = sync1;
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myread( ch, log, tmpbuf, 1 ); sync1 = (unsigned char)tmpbuf[0];
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// cout << "scanning for start of message, eof = " << ch->eof() << endl;
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if ( ch->get_type() == sgFileType ) {
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myeof = ((SGFile *)ch)->eof();
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}
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}
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// cout << "found start of message ..." << endl;
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// read message id and size
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myread( ch, log, tmpbuf, 1 ); uint8_t id = (unsigned char)tmpbuf[0];
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myread( ch, log, tmpbuf, 1 ); uint8_t size = (unsigned char)tmpbuf[0];
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// cout << "message = " << (int)id << " size = " << (int)size << endl;
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// load message
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if ( ch->get_type() == sgFileType ) {
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int count = myread( ch, log, savebuf, size );
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if ( count != size ) {
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cout << "ERROR: didn't read enough bytes!" << endl;
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}
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} else {
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for ( int i = 0; i < size; ++i ) {
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myread( ch, log, tmpbuf, 1 ); savebuf[i] = tmpbuf[0];
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}
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}
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// read checksum
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myread( ch, log, tmpbuf, 1 ); uint8_t cksum0 = (unsigned char)tmpbuf[0];
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myread( ch, log, tmpbuf, 1 ); uint8_t cksum1 = (unsigned char)tmpbuf[0];
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if ( validate_cksum( id, size, savebuf, cksum0, cksum1 ) ) {
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parse_msg( id, savebuf, pos, att );
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return id;
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}
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cout << "Check sum failure!" << endl;
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return -1;
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}
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static double interp( double a, double b, double p, bool rotational = false ) {
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double diff = b - a;
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if ( rotational ) {
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// special handling of rotational data
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if ( diff > SGD_PI ) {
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diff -= SGD_2PI;
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} else if ( diff < -SGD_PI ) {
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diff += SGD_2PI;
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}
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}
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return a + diff * p;
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}
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MIDGpos MIDGInterpPos( const MIDGpos A, const MIDGpos B, const double percent )
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{
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MIDGpos p;
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p.midg_time = MIDGTime((uint32_t)interp(A.midg_time.get_msec(),
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B.midg_time.get_msec(),
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percent));
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p.lat_deg = interp(A.lat_deg, B.lat_deg, percent);
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p.lon_deg = interp(A.lon_deg, B.lon_deg, percent);
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p.altitude_msl = interp(A.altitude_msl, B.altitude_msl, percent);
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p.fix_quality = (int)interp(A.fix_quality, B.fix_quality, percent);
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p.num_satellites = (int)interp(A.num_satellites, B.num_satellites, percent);
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p.hdop = interp(A.hdop, B.hdop, percent);
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p.speed_kts = interp(A.speed_kts, B.speed_kts, percent);
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p.course_true = interp(A.course_true, B.course_true, percent, true);
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return p;
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}
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MIDGatt MIDGInterpAtt( const MIDGatt A, const MIDGatt B, const double percent )
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{
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MIDGatt p;
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p.midg_time = MIDGTime((uint32_t)interp(A.midg_time.get_msec(),
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B.midg_time.get_msec(),
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percent));
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p.yaw_rad = interp(A.yaw_rad, B.yaw_rad, percent, true);
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p.pitch_rad = interp(A.pitch_rad, B.pitch_rad, percent, true);
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p.roll_rad = interp(A.roll_rad, B.roll_rad, percent, true);
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return p;
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}
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