From Andy: fix southern hemi for wbt, set baud rate in Brauniger, route excess

precision from computed speed.

diff --git a/brauniger_iq.c b/brauniger_iq.c
index b42c849da963057b8fe7a474b9d4c2e69143d8c7..30905e52319b3537fe0dc80a4cbaf9f9eb0f9fbc 100644 (file)
--- a/brauniger_iq.c
+++ b/brauniger_iq.c
@@ -51,7 +51,10 @@ static const int reqd_bytes[num_states] = { 6, 1, 2, 2, 25, 2, 2, 2, 2, 2, 2, 1,
 
 static void rd_init(const char *fname) {
        if (serial_handle = gbser_init(fname), NULL == serial_handle) {
-               fatal(MYNAME ": Can't initialise port '%s'\n", fname);
+               fatal(MYNAME ": Can't open port '%s'\n", fname);
+       }
+       if (gbser_set_port(serial_handle, 9600, 8, 0, 1) != gbser_OK) {
+               fatal(MYNAME ": Can't configure port '%s'\n", fname);
        }
 }
 

diff --git a/reference/wbt-200.gpx b/reference/wbt-200.gpx
index af01949c9241a483d1a4120b94a16cf095fa67b6..c714bcdc2bb255eac82ddcfe0a3f52877c61d80f 100644 (file)
--- a/reference/wbt-200.gpx
+++ b/reference/wbt-200.gpx
@@ -9,120 +9,120 @@ xsi:schemaLocation="http://www.topografix.com/GPX/1/0 http://www.topografix.com/
 <trk>
 <trkseg>
 <trkpt lat="54.786918600" lon="-2.344296200">
-  <speed>0.556136</speed>
+  <speed>0.000000</speed>
   <name>WP0001</name>
 </trkpt>
 <trkpt lat="54.786917800" lon="-2.344315400">
   <course>94.133018</course>
-  <speed>0.247108</speed>
+  <speed>0.000000</speed>
   <name>WP0002</name>
 </trkpt>
 <trkpt lat="54.786918500" lon="-2.344317400">
   <course>58.742805</course>
-  <speed>0.026882</speed>
+  <speed>0.000000</speed>
   <name>WP0003</name>
 </trkpt>
 <trkpt lat="54.786921300" lon="-2.344313000">
-  <speed>0.085008</speed>
+  <speed>0.000000</speed>
   <name>WP0004</name>
 </trkpt>
 <trkpt lat="54.786923900" lon="-2.344310300">
-  <speed>0.065847</speed>
+  <speed>0.000000</speed>
   <name>WP0005</name>
 </trkpt>
 <trkpt lat="54.786926200" lon="-2.344311600">
   <course>18.051563</course>
-  <speed>0.050291</speed>
+  <speed>0.000000</speed>
   <name>WP0006</name>
 </trkpt>
 <trkpt lat="54.786925900" lon="-2.344315900">
   <course>96.898911</course>
-  <speed>0.053764</speed>
+  <speed>0.000000</speed>
   <name>WP0007</name>
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   <course>142.812088</course>
-  <speed>0.050291</speed>
+  <speed>0.000000</speed>
   <name>WP0009</name>
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-  <speed>0.068536</speed>
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-  <speed>0.087107</speed>
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-  <speed>0.095042</speed>
+  <speed>0.000000</speed>
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-  <speed>0.095042</speed>
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-  <speed>0.082855</speed>
+  <speed>0.000000</speed>
   <name>WP0015</name>
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-  <speed>0.063043</speed>
+  <speed>0.000000</speed>
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-  <speed>0.050291</speed>
+  <speed>0.000000</speed>
   <name>WP0018</name>
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   <course>169.120071</course>
-  <speed>0.050291</speed>
+  <speed>0.000000</speed>
   <name>WP0019</name>
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   <course>148.594345</course>
-  <speed>0.046561</speed>
+  <speed>0.000000</speed>
   <name>WP0020</name>
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   <course>144.216919</course>
-  <speed>0.042504</speed>
+  <speed>0.000000</speed>
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   <course>151.511292</course>
-  <speed>0.046561</speed>
+  <speed>0.000000</speed>
   <name>WP0022</name>
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@@ -149,496 +149,496 @@ xsi:schemaLocation="http://www.topografix.com/GPX/1/0 http://www.topografix.com/
   <name>WP0029</name>
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-  <speed>0.167877</speed>
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-  <speed>1.190717</speed>
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   <name>WP0211</name>
 </trkpt>
 <trkpt lat="54.786802300" lon="-2.344003800">
-  <speed>0.899237</speed>
+  <speed>1.275627</speed>
   <name>WP0212</name>
 </trkpt>
 <trkpt lat="54.786616200" lon="-2.344166600">
   <course>153.232285</course>
-  <speed>4.640603</speed>
+  <speed>5.102509</speed>
   <name>WP0213</name>
 </trkpt>
 <trkpt lat="54.786540500" lon="-2.344416600">
   <course>117.705025</course>
-  <speed>3.625063</speed>
+  <speed>3.826882</speed>
   <name>WP0214</name>
 </trkpt>
 <trkpt lat="54.786501700" lon="-2.344660800">
   <course>105.405190</course>
-  <speed>3.251814</speed>
+  <speed>3.826882</speed>
   <name>WP0215</name>
 </trkpt>
 <trkpt lat="54.786513700" lon="-2.344705000">
   <course>64.787437</course>
-  <speed>0.627275</speed>
+  <speed>0.000000</speed>
   <name>WP0216</name>
 </trkpt>
 <trkpt lat="54.786760100" lon="-2.344360500">
-  <speed>7.046580</speed>
+  <speed>7.653764</speed>
   <name>WP0217</name>
 </trkpt>
 <trkpt lat="54.787114900" lon="-2.343841500">
-  <speed>10.333961</speed>
+  <speed>10.205019</speed>
   <name>WP0218</name>
 </trkpt>
 <trkpt lat="54.786823000" lon="-2.344343500">
   <course>135.240036</course>
-  <speed>9.152427</speed>
+  <speed>8.929392</speed>
   <name>WP0219</name>
 </trkpt>
 <trkpt lat="54.786727900" lon="-2.344510000">
   <course>134.727890</course>
-  <speed>3.008605</speed>
+  <speed>2.551255</speed>
   <name>WP0220</name>
 </trkpt>
 <trkpt lat="54.786797300" lon="-2.344411700">
-  <speed>1.994969</speed>
+  <speed>2.551255</speed>
   <name>WP0221</name>
 </trkpt>
 <trkpt lat="54.786798000" lon="-2.344388300">
-  <speed>0.300548</speed>
+  <speed>0.000000</speed>
   <name>WP0222</name>
 </trkpt>
 <trkpt lat="54.787078000" lon="-2.343880200">
-  <speed>9.022692</speed>
+  <speed>8.929392</speed>
   <name>WP0223</name>
 </trkpt>
 <trkpt lat="54.787064400" lon="-2.343910000">
   <course>128.360611</course>
-  <speed>0.487963</speed>
+  <speed>0.000000</speed>
   <name>WP0224</name>
 </trkpt>
 <trkpt lat="54.787059700" lon="-2.343934800">
   <course>108.194084</course>
-  <speed>0.335216</speed>
+  <speed>0.000000</speed>
   <name>WP0225</name>
 </trkpt>
 <trkpt lat="54.787079300" lon="-2.343931200">
-  <speed>0.438841</speed>
+  <speed>0.000000</speed>
   <name>WP0226</name>
 </trkpt>
 <trkpt lat="54.787085100" lon="-2.343997400">
   <course>81.360321</course>
-  <speed>0.859589</speed>
+  <speed>1.275627</speed>
   <name>WP0227</name>
 </trkpt>
 <trkpt lat="54.787090000" lon="-2.343998400">
   <course>6.711519</course>
-  <speed>0.109195</speed>
+  <speed>0.000000</speed>
   <name>WP0228</name>
 </trkpt>
 <trkpt lat="54.787363500" lon="-2.343572600">
-  <speed>8.182794</speed>
+  <speed>7.653764</speed>
   <name>WP0229</name>
 </trkpt>
 <trkpt lat="54.787468300" lon="-2.343368600">
-  <speed>3.507539</speed>
+  <speed>3.826882</speed>
   <name>WP0230</name>
 </trkpt>
 <trkpt lat="54.787640700" lon="-2.343024900">
-  <speed>5.848113</speed>
+  <speed>6.378137</speed>
   <name>WP0231</name>
 </trkpt>
 <trkpt lat="54.787859200" lon="-2.342704200">
-  <speed>6.372952</speed>
+  <speed>6.378137</speed>
   <name>WP0232</name>
 </trkpt>
 <trkpt lat="54.787842200" lon="-2.342921800">
   <course>97.715996</course>
-  <speed>2.818878</speed>
+  <speed>2.551255</speed>
   <name>WP0233</name>
 </trkpt>
 <trkpt lat="54.787355300" lon="-2.343799700">
   <course>133.886002</course>
-  <speed>15.637352</speed>
+  <speed>15.307528</speed>
   <name>WP0234</name>
 </trkpt>
 <trkpt lat="54.787075000" lon="-2.344206800">
   <course>140.055038</course>
-  <speed>8.139894</speed>
+  <speed>7.653764</speed>
   <name>WP0235</name>
 </trkpt>
 <trkpt lat="54.787010700" lon="-2.344363000">
   <course>125.523293</course>
-  <speed>2.463761</speed>
+  <speed>2.551255</speed>
   <name>WP0236</name>
 </trkpt>
 <trkpt lat="54.786777100" lon="-2.344770400">
   <course>134.839066</course>
-  <speed>7.375820</speed>
+  <speed>7.653764</speed>
   <name>WP0237</name>
 </trkpt>
 <trkpt lat="54.786630800" lon="-2.344906200">
   <course>151.842575</course>
-  <speed>3.694468</speed>
+  <speed>3.826882</speed>
   <name>WP0238</name>
 </trkpt>
 <trkpt lat="54.786659200" lon="-2.344849700">
-  <speed>0.962317</speed>
+  <speed>1.275627</speed>
   <name>WP0239</name>
 </trkpt>
 <trkpt lat="54.786524100" lon="-2.345018400">
   <course>144.244812</course>
-  <speed>3.706478</speed>
+  <speed>3.826882</speed>
   <name>WP0240</name>
 </trkpt>
 <trkpt lat="54.786864600" lon="-2.344376200">
-  <speed>11.200036</speed>
+  <speed>11.480646</speed>
   <name>WP0241</name>
 </trkpt>
 <trkpt lat="54.787250300" lon="-2.343633900">
-  <speed>12.827707</speed>
+  <speed>12.756274</speed>
   <name>WP0242</name>
 </trkpt>
 <trkpt lat="54.787807600" lon="-2.342578800">
-  <speed>18.368883</speed>
+  <speed>17.858784</speed>
   <name>WP0243</name>
 </trkpt>
 <trkpt lat="54.787178600" lon="-2.344040000">
   <course>126.742546</course>
-  <speed>19.507580</speed>
+  <speed>19.134411</speed>
   <name>WP0244</name>
 </trkpt>
 <trkpt lat="54.786722100" lon="-2.344530500">
   <course>148.218903</course>
-  <speed>7.472546</speed>
+  <speed>7.175404</speed>
   <name>WP0245</name>
 </trkpt>
 <trkpt lat="54.786872300" lon="-2.344456200">
-  <speed>2.483881</speed>
+  <speed>2.733487</speed>
   <name>WP0246</name>
 </trkpt>
 <trkpt lat="54.786790900" lon="-2.344473100">
   <course>173.173264</course>
-  <speed>1.303782</speed>
+  <speed>0.911162</speed>
   <name>WP0247</name>
 </trkpt>
 <trkpt lat="54.786866200" lon="-2.344096600">
-  <speed>1.967664</speed>
+  <speed>1.962504</speed>
   <name>WP0248</name>
 </trkpt>
 <trkpt lat="54.786926000" lon="-2.344155900">
   <course>29.760809</course>
-  <speed>1.533561</speed>
+  <speed>1.275627</speed>
   <name>WP0249</name>
 </trkpt>
 <trkpt lat="54.787223500" lon="-2.343181500">
-  <speed>14.154443</speed>
+  <speed>14.031901</speed>
   <name>WP0250</name>
 </trkpt>
 <trkpt lat="54.787151700" lon="-2.343740700">
   <course>102.553291</course>
-  <speed>7.354651</speed>
+  <speed>7.653764</speed>
   <name>WP0251</name>
 </trkpt>
 <trkpt lat="54.787281000" lon="-2.343534000">
-  <speed>3.915116</speed>
+  <speed>3.826882</speed>
   <name>WP0252</name>
 </trkpt>
 <trkpt lat="54.787392100" lon="-2.343651100">
   <course>31.289225</course>
-  <speed>2.894576</speed>
+  <speed>2.551255</speed>
   <name>WP0253</name>
 </trkpt>
 <trkpt lat="54.787738600" lon="-2.342950500">
-  <speed>11.849266</speed>
+  <speed>11.480646</speed>
   <name>WP0254</name>
 </trkpt>
 <trkpt lat="54.787550500" lon="-2.343047500">
   <course>163.440262</course>
-  <speed>3.120760</speed>
+  <speed>2.733487</speed>
   <name>WP0255</name>
 </trkpt>
 <trkpt lat="54.786874100" lon="-2.344481700">
   <course>129.279663</course>
-  <speed>2.973259</speed>
+  <speed>3.029615</speed>
   <name>WP0256</name>
 </trkpt>
 <trkpt lat="54.787425000" lon="-2.342911400">
-  <speed>23.597078</speed>
+  <speed>22.961292</speed>
   <name>WP0257</name>
 </trkpt>
 <trkpt lat="54.787020700" lon="-2.344089400">
   <course>120.761200</course>
-  <speed>1.060176</speed>
+  <speed>1.075830</speed>
   <name>WP0258</name>
 </trkpt>
 <trkpt lat="54.787111400" lon="-2.344023100">
-  <speed>0.116564</speed>
+  <speed>0.135705</speed>
   <name>WP0259</name>
 </trkpt>
 </trkseg>

diff --git a/wbt-200.c b/wbt-200.c
index 685031bf543f0d1f444a0e1f00f1f37039e114c7..7922f9230f49c960fc4aa3182d2a16e51693263d 100644 (file)
--- a/wbt-200.c
+++ b/wbt-200.c
@@ -193,10 +193,16 @@ static void data_chunk(struct read_state *st, const void *buf) {
     rtim = mkgmtime(&t);
 
     if (lat >= 100) {
-        /* Start new track */
+        /* Start new track in the northern hemisphere */
         lat -= 100;
         st->route_head = NULL;
+    } else if (lat <= -100) {
+        /* Start new track in the southern hemisphere */
+        /* This fix courtesy of Anton Frolich */
+        lat += 100;
+        st->route_head = NULL;
     } else {
+        double speed, gcd, dtim, rtm;
                wpt = waypt_new();
        
                wpt->latitude       = lat;;
@@ -204,14 +210,17 @@ static void data_chunk(struct read_state *st, const void *buf) {
                wpt->creation_time  = rtim;
                wpt->centiseconds   = 0;
        
-               /* OK to reuse buffer now */
                sprintf(wp_name, "WP%04d", ++st->wpn);
                wpt->shortname      = xstrdup(wp_name);
                
-               wpt->speed          = radtometers(
-                                   gcdist(RAD(st->plat), RAD(st->plon), 
-                                          RAD(lat), RAD(lon))) /
-                                     (rtim - st->ptim);
+               /* Broken down to make it easier to find the source of rounding errors */
+        gcd                 = gcdist(RAD(st->plat), RAD(st->plon), RAD(lat), RAD(lon));
+        gcd                 = (double) ((long) (gcd * 1000000 + 0.5)) / 1000000;
+        dtim                = rtim - st->ptim;
+        rtm                 = radtometers(gcd);
+        speed               = rtm / dtim;
+        
+        wpt->speed          = speed;
                wpt->course         = DEG(heading(RAD(st->plat), RAD(st->plon),
                                              RAD(lat), RAD(lon)));
                wpt->pdop               = 0;