thooge/esp32-nmea2000-obp60
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handle HDG,HDM,HDT bothways

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This commit is contained in:
andreas
2021-11-05 20:38:15 +01:00
parent fc57d73054
commit c782225e33
3 changed files with 120 additions and 11 deletions
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56
lib/nmea2kto0183/N2kDataToNMEA0183.cpp
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@@ -122,20 +122,58 @@ private:
double Variation;
tNMEA0183Msg NMEA0183Msg;
double Heading;
//if we have heading and variation we send HDG (mag.) and HDT
//if we have no variation we send either HDM or HDT
if (ParseN2kHeading(N2kMsg, SID, Heading, _Deviation, Variation, ref))
{
if (ref == N2khr_magnetic)
{
updateDouble(boatData->Variation, Variation); // Update Variation
if (!N2kIsNA(Heading) && boatData->Variation->isValid(millis()))
Heading -= boatData->Variation->getData();
updateDouble(boatData->Variation,Variation);
updateDouble(boatData->Deviation,_Deviation);
if (N2kIsNA(Variation)){
//maybe we still have a valid variation
Variation=boatData->Variation->getDataWithDefault(N2kDoubleNA);
}
updateDouble(boatData->Heading, Heading);
if (NMEA0183SetHDG(NMEA0183Msg, boatData->Heading->getDataWithDefault(NMEA0183DoubleNA), _Deviation, boatData->Variation->getDataWithDefault(NMEA0183DoubleNA)))
{
SendMessage(NMEA0183Msg);
if (N2kIsNA(Variation)){
//no variation
if (ref == N2khr_magnetic){
updateDouble(boatData->MagneticHeading,Heading);
if (NMEA0183SetHDM(NMEA0183Msg,Heading)){
SendMessage(NMEA0183Msg);
}
}
if (ref == N2khr_true){
updateDouble(boatData->Heading,Heading);
if (NMEA0183SetHDT(NMEA0183Msg,Heading)){
SendMessage(NMEA0183Msg);
}
}
}
else{
double MagneticHeading=N2kDoubleNA;
if (ref == N2khr_magnetic){
MagneticHeading=Heading;
Heading+=Variation;
}
if (ref == N2khr_true){
MagneticHeading=Heading-Variation;
}
updateDouble(boatData->MagneticHeading,MagneticHeading);
updateDouble(boatData->Heading,Heading);
if (!N2kIsNA(MagneticHeading)){
if (NMEA0183SetHDG(NMEA0183Msg, MagneticHeading,_Deviation,
Variation))
{
SendMessage(NMEA0183Msg);
}
}
if (!N2kIsNA(Heading)){
if (NMEA0183SetHDT(NMEA0183Msg, Heading))
{
SendMessage(NMEA0183Msg);
}
}
}
}
}
//*****************************************************************************