Remove GST modification

New "v04 beta" firmware fixes the GST issue so this is no longer needed.

Author: nseidle

Firmware/RTK_Everywhere/Developer.ino

@@ -277,7 +277,6 @@ void pointperfectPrintKeyInformation() {systemPrintln("**PPL Not Compiled**");}
 #ifndef COMPILE_LG290P
 
 void lg290pHandler(uint8_t * buffer, int length) {}
-void lg290pModifyGst(char *nmeaSentence, uint16_t *sentenceLength) {}
 
 #endif // COMPILE_LG290P
 

Firmware/RTK_Everywhere/GNSS_LG290P.ino

@@ -2217,137 +2217,3 @@ bool lg290pMessageEnabled(char *nmeaSentence, int sentenceLength)
     // If we can't ID this message, allow it by default. The device configuration should control most message flow.
     return (true);
 }
-
-// Re-create the GST sentence to increase the horizontal and vertical precision number of decimals
-// ie, 0.0 becomes 0.009
-// See issue: https://github.com/sparkfun/SparkFun_RTK_Everywhere_Firmware/issues/513
-// $GNGST,223954.500,1.7,1.5,1.0,109.3,1.412,1.055,2.4*7E
-// Modifies the sentence length with new length
-void lg290pModifyGst(char *nmeaSentence, uint16_t *sentenceLength)
-{
-    // This issue currently only applies to LG290P firmware version 4
-    // Version 3 does not support GST messages. Version 5 should fix the issue.
-    if (lg290pFirmwareVersion != 4)
-        return;
-
-    if (online.gnss == false)
-        return;
-
-    // Only apply the GST patch if our HPA is very small (<0.1m), ie RTK Float or Fix.
-    if (gnss->isRTKFix() == false && gnss->isRTKFloat() == false)
-        return;
-
-    GNSS_LG290P *lg290p = (GNSS_LG290P *)gnss;
-
-    // Identify sentence type
-    char sentenceType[strlen("GST") + 1] = {0};
-    strncpy(sentenceType, &nmeaSentence[3],
-            3); // Copy three letters, starting in spot 3. Null terminated from array initializer.
-
-    // We only care about GST sentences
-    if (strncmp(sentenceType, "GST", sizeof(sentenceType)) != 0)
-        return;
-
-    const int latitudeErrorComma = 6;
-    const int longitudeErrorComma = 7;
-    const int altitudeErrorComma = 8;
-
-    uint8_t latitudeStart = 0;
-    uint8_t latitudeStop = 0;
-    uint8_t longitudeStart = 0;
-    uint8_t longitudeStop = 0;
-    uint8_t altitudeStart = 0;
-    uint8_t checksumStart = 0;
-
-    if (settings.enableImuCompensationDebug == true && !inMainMenu)
-        systemPrintf("Original GNGST:\r\n%s\r\n", nmeaSentence);
-
-    int commaCount = 0;
-    for (int x = 0; x < strnlen(nmeaSentence, *sentenceLength); x++) // Assumes sentence is null terminated
-    {
-        if (nmeaSentence[x] == ',')
-        {
-            commaCount++;
-            if (commaCount == latitudeErrorComma)
-                latitudeStart = x + 1;
-            if (commaCount == latitudeErrorComma + 1)
-                latitudeStop = x;
-            if (commaCount == longitudeErrorComma)
-                longitudeStart = x + 1;
-            if (commaCount == longitudeErrorComma + 1)
-                longitudeStop = x;
-            if (commaCount == altitudeErrorComma)
-                altitudeStart = x + 1;
-        }
-        if (nmeaSentence[x] == '*')
-        {
-            checksumStart = x;
-            break;
-        }
-    }
-
-    if (latitudeStart == 0 || latitudeStop == 0 || longitudeStart == 0 || longitudeStop == 0 || altitudeStart == 0 ||
-        checksumStart == 0)
-    {
-        systemPrintln("Delineator not found");
-        return;
-    }
-
-    char newSentence[150] = {0};
-
-    if (sizeof(newSentence) < *sentenceLength)
-    {
-        systemPrintln("newSentence not big enough!");
-        return;
-    }
-
-    char errorString[strlen("0.000") + 1] = {0};
-
-    // strncat terminates
-
-    // Add start of message up to latitude
-    strncat(newSentence, nmeaSentence, latitudeStart);
-
-    // Convert error from EPE message to string. We don't have pure lat error, only 2D and 3D.
-    snprintf(errorString, sizeof(errorString), "%0.3f", lg290p->getHorizontalAccuracy());
-
-    // Add latitude error
-    strncat(newSentence, errorString, sizeof(newSentence) - 1);
-
-    // Add interstitial between end of lat and beginning of lon
-    strncat(newSentence, nmeaSentence + latitudeStop, longitudeStart - latitudeStop);
-
-    // Add same error for longitude error
-    strncat(newSentence, errorString, sizeof(newSentence) - 1);
-
-    // Add interstitial between end of lon and beginning of alt
-    strncat(newSentence, nmeaSentence + longitudeStop, altitudeStart - longitudeStop);
-
-    // Convert error from EPE message to string. We don't have pure altitude error, use double 2D error as stand-in.
-    snprintf(errorString, sizeof(errorString), "%0.3f", lg290p->getHorizontalAccuracy() * 2);
-
-    // Add altitude error. We don't really have altitude so use 3D error in its place.
-    strncat(newSentence, errorString, sizeof(newSentence) - 1);
-
-    // From: http://engineeringnotes.blogspot.com/2015/02/generate-crc-for-nmea-strings-arduino.html
-    byte CRC = 0; // XOR chars between '$' and '*'
-    for (byte x = 1; x < strlen(newSentence); x++)
-        CRC = CRC ^ newSentence[x];
-
-    // Convert CRC to string, add * and CR LF
-    snprintf(errorString, sizeof(errorString), "*%02X\r\n", CRC);
-
-    // Add CRC
-    strncat(newSentence, errorString, sizeof(newSentence) - 1);
-
-    // Increase length of sentence
-    *sentenceLength = strlen(newSentence);
-
-    // Overwrite the original NMEA
-    strncpy(nmeaSentence, newSentence, *sentenceLength);
-
-    nmeaSentence[*sentenceLength] = '\0'; // Terminate string
-
-    if (settings.enableImuCompensationDebug == true && !inMainMenu)
-        systemPrintf("Corrected GNGST:\r\n%s\r\n", nmeaSentence);
-}

Firmware/RTK_Everywhere/Tasks.ino

@@ -650,9 +650,6 @@ void processUart1Message(SEMP_PARSE_STATE *parse, uint16_t type)
                 parse->buffer[0] = 0;
                 parse->length = 0;
             }
-
-            // Gimme three decimals!
-            lg290pModifyGst((char *)parse->buffer, &parse->length);
         }
     }