Ankerseite und mehr NMEA0183 code

nmea0183.py

@@ -13,6 +13,13 @@ def DBT(boatdata, msg):
     pass
     #boatdata.setValue("DBT", msg.depth)
 
+def DPT(boatdata, msg):
+    # Depth
+    print("-> DPT")
+    print(msg.fields)
+    print(msg.data)
+    #boatdata.setValue("DBT", msg.depth)
+
 def GBS(boatdata, msg):
     # GNSS satellite fault detection
     """
@@ -42,9 +49,20 @@ def GGA(boatdata, msg):
     boatdata.setValue("HDOP", msg.horizontal_dil)
 
 def GLL(boatdata, msg):
-    print("-> GLL")
-    boatdata.setValue("LAT", msg.latitude)
-    boatdata.setValue("LON", msg.longitude)
+    # Position data: position fix, time of position fix, and status
+    # UTC of position ignored
+    print(msg.data)
+    if not msg.status == 'A':
+        return
+    lat_fac = 1 if msg.lat_dir == 'N' else -1
+    lat_deg = int(msg.lat[0:2])
+    lat_min = float(msg.lat[2:])
+    print(lat_deg, lat_min)
+    boatdata.setValue("LAT", lat_fac * lat_deg + lat_min / 60)
+    lon_fac = 1 if msg.lon_dir == 'E' else -1
+    lon_deg = int(msg.lon[0:3])
+    lon_min = float(msg.lon[3:])
+    boatdata.setValue("LON", lon_fac * lon_deg + lon_min / 60)
 
 def GSA(boatdata, msg):
     # Satellites
@@ -113,8 +131,10 @@ def HDM(boatdata, msg):
 
 def HDT(boatdata, msg):
     # Heading True
-    print("-> HDT")
-    print(msg.fields)
+    if msg.hdg_true == 'T':
+        boatdata.setValue("HDT", msg.heading)
+    else:
+        print("HDT: T not set!")
 
 def HTD(boatdata, msg):
     # Heading/Track control data
@@ -141,20 +161,25 @@ def RMB(boatdata, msg):
 
 def RMC(boatdata, msg):
     # Recommended Minimum Navigation Information
-    # print("-> RMC")
+    #print("-> RMC")
     # print(msg.timestamp, msg.datestamp)
-    # print(msg.status) # V=Warning, P=Precise, A=?
+    # print(msg.status) # V=Warning, P=Precise, A=OK
     # mag_variation, mag_var_dir E/W
-    # true_course
-    if msg.lat_dir == 'N':
-        boatdata.setValue("LAT", msg.lat)
-    else:
-        boatdata.setValue("LAT", msg.lat) * -1
-    if msg.lon_dir == 'E':
-        boatdata.setValue("LON", msg.lon)
-    else:
-        boatdata.setValue("LON", msg.lon) * -1
-    boatdata.setValue("SOG", msg.spd_over_grnd)
+    # TODO nav_status welche Bedeutung?
+    if not msg.status == 'A':
+        return
+    lat_fac = 1 if msg.lat_dir == 'N' else -1
+    lat_deg = int(msg.lat[0:2])
+    lat_min = float(msg.lat[2:])
+    boatdata.setValue("LAT", lat_fac * lat_deg + lat_min / 60)
+    lon_fac = 1 if msg.lon_dir == 'E' else -1
+    lon_deg = int(msg.lon[0:3])
+    lon_min = float(msg.lon[3:])
+    boatdata.setValue("LON", lon_fac * lon_deg + lon_min / 60)
+    if msg.spd_over_grnd:
+        boatdata.setValue("SOG", float(msg.spd_over_grnd))
+    if msg.true_course:
+        boatdata.setValue("COG", float(msg.true_course))
 
 def ROT(boatdata, msg):
     # Rate Of Turn
@@ -242,7 +267,13 @@ def XDR(boatdata, msg):
     # units: D
     # id: Yaw
     if msg.id.lower() == 'yaw':
-        boatdata.setValue("YAW", msg.value)
+        boatdata.setValue("YAW", float(msg.value))
+    elif msg.id.lower() == 'ptch':
+        boatdata.setValue("PTCH", float(msg.value))
+    elif msg.id.lower() == 'roll':
+        boatdata.setValue("ROLL", float(msg.value))
+    elif msg.id.lower() == 'barometer':
+        boatdata.setValue("xdrPress", float(msg.value))
     else:
         print(f"-> XDR: {msg.type}, {msg.value}, {msg.units}, {msg.id}")
 
@@ -275,6 +306,7 @@ def VDO(boatdata, msg):
 decoder = {
     "DBS": DBS,
     "DBT": DBT,
+    "DPT": DPT,
     "GBS": GBS,
     "GGA": GGA,
     "GLL": GLL,
@@ -282,6 +314,7 @@ decoder = {
     "GSV": GSV,
     "HDG": HDG,
     "HDM": HDM,
+    "HDT": HDT,
     "HTD": HTD,
     "MWV": MWV,
     "MTW": MTW,