Updated GPS navdata definition for firmware version 2.4.8.

I also took this opportunity to rename GPS data fields to be
consistent with existing nomenclature (that is, degreeMag instead of
degree_mag).

The new data definitions come from
AutonomyLab/ardrone_autonomy#95 which
supposedly came via backchannels from Parrot.

I spliced a GPS navdata option collected from a drone running 2.4.8
into test/fixtures/navdata.bin and updated the unit tests.

lib/navdata/parseNavdata.js

@@ -545,45 +545,45 @@ exports.OPTION_PARSERS = {
 
   'gps': function(reader) {
     return {
-      // from https://github.com/paparazzi/paparazzi/blob/55e3d9d79119f81ed0b11a59487280becf13cf40/sw/airborne/boards/ardrone/at_com.h#L157
+      // from https://github.com/lesire/ardrone_autonomy/commit/a986b3380da8d9306407e2ebfe7e0f2cd5f97683
       latitude:             reader.double64(),
       longitude:            reader.double64(),
       elevation:            reader.double64(),
       hdop:                 reader.double64(),
-      data_available:       reader.int32(),
-      unk_0:                timesMap(8, reader.uint8, reader),
+      dataAvailable:        reader.int32(),
+      zeroValidated:        reader.int32(),
+      wptValidated:         reader.int32(),
       lat0:                 reader.double64(),
       lon0:                 reader.double64(),
-      lat_fuse:             reader.double64(),
-      lon_fuse:             reader.double64(),
-      gps_state:            reader.uint32(),
-      unk_1:                timesMap(40, reader.uint8, reader),
+      latFuse:              reader.double64(),
+      lonFuse:              reader.double64(),
+      gpsState:             reader.uint32(),
+      xTraj:                reader.float32(),
+      xRef:                 reader.float32(),
+      yTraj:                reader.float32(),
+      yRef:                 reader.float32(),
+      thetaP:               reader.float32(),
+      phiP:                 reader.float32(),
+      thetaI:               reader.float32(),
+      phiI:                 reader.float32(),
+      thetaD:               reader.float32(),
+      phiD:                 reader.float32(),
       vdop:                 reader.double64(),
       pdop:                 reader.double64(),
       speed:                reader.float32(),
-      last_frame_timestamp: droneTimeToMilliSeconds(reader.uint32()),
+      lastFrameTimestamp:   droneTimeToMilliSeconds(reader.uint32()),
       degree:               reader.float32(),
-      degree_mag:           reader.float32(),
-      unk_2:                timesMap(16, reader.uint8, reader),
+      degreeMag:            reader.float32(),
+      ehpe:                 reader.float32(),
+      ehve:                 reader.float32(),
+      c_n0:                 reader.float32(),
+      nbSatellites:         reader.uint32(),
       channels:             timesMap(12, reader.satChannel, reader),
-      gps_plugged:          reader.int32(),
-      unk_3:                timesMap(108, reader.uint8, reader),
-      gps_time:             reader.double64(),
-      week:                 reader.uint16(),
-      gps_fix:              reader.uint8(),
-      num_satellites:       reader.uint8(),
-      unk_4:                timesMap(24, reader.uint8, reader),
-      ned_vel_c0:           reader.double64(),
-      ned_vel_c1:           reader.double64(),
-      ned_vel_c2:           reader.double64(),
-      pos_accur_c0:         reader.double64(),
-      pos_accur_c1:         reader.double64(),
-      pos_accur_c2:         reader.double64(),
-      speed_accur:          reader.float32(),
-      time_accur:           reader.float32(),
-      unk_5:                timesMap(72, reader.uint8, reader),
-      temperature:          reader.float32(),
-      pressure:             reader.float32()
+      gpsPlugged:           reader.int32(),
+      ephemerisStatus:      reader.uint32(),
+      vxTraj:               reader.float32(),
+      vyTraj:               reader.float32(),
+      firmwareStatus:       reader.uint32()
     };
   }
 };

test/unit/navdata/test-parseNavdata.js

@@ -788,39 +788,55 @@ test('parseNavdata', {
 
   'parses gps option': function() {
     var gps = parseNavdata(fixture).gps;
-    assert.equal(gps.latitude, 34.0903478);
-    // assert.equal(gps.longitude, 0);
-    assert.equal(gps.elevation, 130.39);
-    //assert.equal(gps.hdop, 0);
-    assert.equal(gps.lat0, 34.090359093568644);
-    assert.equal(gps.lon0, -118.276604);
-    assert.equal(gps.lat_fuse, 34.09035909403431);
-    assert.equal(gps.lon_fuse, -118.276604);
-    //assert.equal(gps.vdop, 0);
+    assert.equal(gps.latitude, 34.0905016);
+    assert.equal(gps.longitude, -118.2766877);
+    assert.equal(gps.elevation, 122.64);
+    assert.equal(gps.hdop, 1);
+    assert.equal(gps.dataAvailable, 7);
+    assert.equal(gps.zeroValidated, 1);
+    assert.equal(gps.wptValidated, 0);
+    assert.equal(gps.lat0, 34.0905016);
+    assert.equal(gps.lon0, -118.2766877);
+    assert.equal(gps.latFuse, 34.0904833);
+    assert.equal(gps.lonFuse, -118.2766982);
+    assert.equal(gps.gpsState, 1);
+    assert.equal(gps.xTraj, 0);
+    assert.equal(gps.xRef, 0);
+    assert.equal(gps.yTraj, 0);
+    assert.equal(gps.yRef, 0);
+    assert.equal(gps.thetaP, 0);
+    assert.equal(gps.phiP, 0);
+    assert.equal(gps.thetaD, 0);
+    assert.equal(gps.phiD, 0);
+    assert.equal(gps.vdop, 0);
     assert.equal(gps.pdop, 0);
-    assert.equal(gps.speed, 0.4399999976158142);
-    assert.equal(gps.last_frame_timestamp, 1816647.945);
-    assert.equal(gps.degree, 170.16000366210938);
-    assert.equal(gps.degree_mag, 0);
+    assert.equal(gps.speed, 0.10000000149011612);
+    assert.equal(gps.lastFrameTimestamp, 2409.591);
+    assert.equal(gps.degree, 141.00999450683594);
+    assert.equal(gps.degreeMag, 0);
+    assert.equal(gps.ehpe, 8.260000228881836);
+    assert.equal(gps.ehve, 0.429999977350235);
+    assert.equal(gps.c_n0, 28);
+    assert.equal(gps.nbSatellites, 9);
     assert.deepEqual(
       gps.channels,
-      [{sat: 22, cn0: 36},
-       {sat: 15, cn0: 17},
-       {sat: 11, cn0: 227},
-       {sat: 11, cn0: 227},
-       {sat: 18, cn0: 27},
-       {sat: 29, cn0: 16},
-       {sat: 21, cn0: 22},
-       {sat: 16, cn0: 0},
-       {sat: 27, cn0: 0},
-       {sat: 30, cn0: 0},
-       {sat: 12, cn0: 227},
-       {sat: 12, cn0: 227}]);
-    assert.equal(gps.gps_plugged, 1);
-    assert.equal(gps.gps_time, 0);
-    assert.equal(gps.week, 0);
-    assert.equal(gps.gps_fix, 0);
-    assert.equal(gps.num_satellites, 0);
+      [ { sat: 10, cn0: 26 },
+        { sat: 5, cn0: 21 },
+        { sat: 8, cn0: 27 },
+        { sat: 3, cn0: 17 },
+        { sat: 13, cn0: 18 },
+        { sat: 7, cn0: 32 },
+        { sat: 9, cn0: 23 },
+        { sat: 27, cn0: 9 },
+        { sat: 19, cn0: 19 },
+        { sat: 28, cn0: 29 },
+        { sat: 30, cn0: 26 },
+        { sat: 138, cn0: 0 } ]);
+    assert.equal(gps.gpsPlugged, 1);
+    assert.equal(gps.ephemerisStatus, 73);
+    assert.equal(gps.vxTraj, 0);
+    assert.equal(gps.vyTraj, 0);
+    assert.equal(gps.firmwareStatus, 1);
   },
 
   'throws exception on invalid header': function() {