Merge pull request #28 from iNavFlight/jh_compiler_warning_fix

Fix win32 compiler warnings; only generate derived GPS data when we have a valid fix

src/blackbox_decode.c

@@ -574,6 +574,10 @@ void flightModeName(FILE *file) {
 /**
  * Print the GPS fields from the given GPS frame as comma-separated values (the GPS frame time is not printed).
  */
+
+static double range, bearing;
+static int32_t relbearing;
+
 void outputGPSFields(flightLog_t *log, FILE *file, int64_t *frame)
 {
     int i;
@@ -629,14 +633,15 @@ void outputGPSFields(flightLog_t *log, FILE *file, int64_t *frame)
 
 	// Adding information overlay fields
     if (options.mergeGPS) {
-        double range = 0, bearing = 0;
-        int32_t relbearing = 0;
-
         if (log->sysConfig.gpsHomeLatitude != 0 && log->sysConfig.gpsHomeLongitude != 0) {
             double gpsHomeLat = log->sysConfig.gpsHomeLatitude / 10000000.0;
             double gpsHomeLon = log->sysConfig.gpsHomeLongitude / 10000000.0;
+            uint8_t fix_type = 0;
+
+            if (log->gpsFieldIndexes.GPS_fixType != -1)
+                fix_type = frame[log->gpsFieldIndexes.GPS_fixType];
 
-            if(currentLat != 0 && currentLon != 0) {
+            if(currentLat != 0 && currentLon != 0 && fix_type == 2) {
                     // vehichle relative makes rel bearing easier ...
                 bearing_distance(currentLat, currentLon, gpsHomeLat, gpsHomeLon, &range, &bearing);
                 relbearing = lrint(bearing) - currentCourse;

src/parser.c

@@ -273,6 +273,8 @@ static void identifyGPSFields(flightLog_t *log, flightLogFrameDef_t *frameDef)
 
         if (strcmp(fieldName, "time") == 0) {
             log->gpsFieldIndexes.time = i;
+        } else if (strcmp(fieldName, "GPS_fixType") == 0) {
+            log->gpsFieldIndexes.GPS_fixType = i;
         } else if (strcmp(fieldName, "GPS_numSat") == 0) {
             log->gpsFieldIndexes.GPS_numSat = i;
         } else if (strcmp(fieldName, "GPS_altitude") == 0)  {
@@ -842,16 +844,15 @@ static void parseGPSHomeFrame(flightLog_t *log, mmapStream_t *stream, bool raw)
     {
         int64_t jmplat;
         int64_t jmplon;
-        jmplat = labs(log->private->gpsHomeHistory[0][log->gpsHomeFieldIndexes.GPS_home[0]] -
+        jmplat = llabs(log->private->gpsHomeHistory[0][log->gpsHomeFieldIndexes.GPS_home[0]] -
                       log->private->gpsHomeHistory[1][log->gpsHomeFieldIndexes.GPS_home[0]]);
-        jmplon = labs(log->private->gpsHomeHistory[0][log->gpsHomeFieldIndexes.GPS_home[1]] -
+        jmplon = llabs(log->private->gpsHomeHistory[0][log->gpsHomeFieldIndexes.GPS_home[1]] -
                       log->private->gpsHomeHistory[1][log->gpsHomeFieldIndexes.GPS_home[1]]);
 
-
-#define DEGJMP500M 45000 // 1*7 degrees equating to c. 500m latitude (or equator longitude)
+#define DEGJMP2M 45000 // 1*7 degrees equating to c. 500m latitude (or equator longitude)
             // if you're at at a pole with will divide by 0, possibly the least of your problems.
-        int64_t jmplonlimit = (int64_t) (45000 / cos((M_PI/180.0) * (log->private->gpsHomeHistory[0][log->gpsHomeFieldIndexes.GPS_home[1]]/ 10000000.0)));
-        if (jmplat > 45000  || jmplon > jmplonlimit) {
+        int64_t jmplonlimit = (int64_t) (DEGJMP2M / cos((M_PI/180.0) * (log->private->gpsHomeHistory[0][log->gpsHomeFieldIndexes.GPS_home[1]]/ 10000000.0)));
+        if (jmplat > DEGJMP2M || jmplon > jmplonlimit) {
             sethome = false;
         }
     }

src/parser.h

@@ -76,6 +76,7 @@ struct flightLogPrivate_t;
  */
 typedef struct gpsGFieldIndexes_t {
     int time;
+    int GPS_fixType;
     int GPS_numSat;
     int GPS_coord[2];
     int GPS_altitude;