Correct handling of navigational status in RMC and GNS

gns.go

@@ -79,13 +79,10 @@ func newGNS(s BaseSentence) (Sentence, error) {
  m.NavStatus = p.EnumString(
  12,
  "navigation status",
- NavStatusAutonomous,
- NavStatusDifferential,
- NavStatusEstimated,
- NavStatusManualInput,
- NavStatusSimulated,
- NavStatusDataNotValid,
- NavStatusDataValid,
+ NavStatusSafe,
+ NavStatusCaution,
+ NavStatusUnsafe,
+ NavStatusNotValid,
  )
  }
  return m, p.Err()

rmc.go

@@ -58,13 +58,10 @@ func newRMC(s BaseSentence) (Sentence, error) {
  m.NavStatus = p.EnumString(
  12,
  "navigation status",
- NavStatusAutonomous,
- NavStatusDifferential,
- NavStatusEstimated,
- NavStatusManualInput,
- NavStatusSimulated,
- NavStatusDataNotValid,
- NavStatusDataValid,
+ NavStatusSafe,
+ NavStatusCaution,
+ NavStatusUnsafe,
+ NavStatusNotValid,
  )
  }
  return m, p.Err()

rmc_test.go

@@ -110,14 +110,30 @@ var rmctests = []struct {
  Date: Date{Valid: true, DD: 30, MM: 5, YY: 18},
  Variation: 0,
  FFAMode: FAAModeAutonomous,
- NavStatus: NavStatusDataValid,
+ NavStatus: NavStatusNotValid,
  },
  },
  {
  name: "bad validity",
  raw: "$GPRMC,220516,D,5133.82,N,00042.24,W,173.8,231.8,130694,004.2,W*75",
  err: "nmea: GPRMC invalid validity: D",
  },
+ {
+ name: "good sentence G with nav status",
+ raw: "$YDRMC,124014.00,A,5520.2848,N,01321.5108,E,0.0,0.0,230623,4.4,E,A,C*5D",
+ msg: RMC{
+ Time: Time{Valid: true, Hour: 12, Minute: 40, Second: 14, Millisecond: 0},
+ Validity: "A",
+ Latitude: 55.338080000000005,
+ Longitude: 13.358513333333333,
+ Speed: 0,
+ Course: 0,
+ Date: Date{Valid: true, DD: 23, MM: 6, YY: 23},
+ Variation: 4.4,
+ FFAMode: FAAModeAutonomous,
+ NavStatus: NavStatusCaution,
+ },
+ },
 }
 
 func TestRMC(t *testing.T) {

types.go

@@ -127,20 +127,22 @@ const (
 
 // Navigation Status (NMEA 4.1 and later)
 const (
- // NavStatusAutonomous is Autonomous mode
- NavStatusAutonomous = "A"
- // NavStatusDifferential is Differential Mode
- NavStatusDifferential = "D"
- // NavStatusEstimated is Estimated (dead-reckoning) mode
- NavStatusEstimated = "E"
- // NavStatusManualInput is Manual Input Mode
- NavStatusManualInput = "M"
- // NavStatusSimulated is Simulated Mode
+ // NavStatusSimulated is a deprecated placeholder for backwards
+ // compatibility. There is no such status in NMEA.
+ // Deprecated: use NavStatusSafe
  NavStatusSimulated = "S"
- // NavStatusDataNotValid is Data Not Valid
- NavStatusDataNotValid = "N"
- // NavStatusDataValid is valid
+ // NavStatusDataValid is a deprecated placeholder for backwards
+ // compatibility. There is no such status in NMEA.
+ // Deprecated: use NavStatusNotValid
  NavStatusDataValid = "V"
+ // NavStatusSafe is Safe (within selected accuracy level)
+ NavStatusSafe = "S"
+ // NavStatusCaution is Caution (integrity not available)
+ NavStatusCaution = "C"
+ // NavStatusUnsafe is Unsafe (outside selected accuracy level)
+ NavStatusUnsafe = "U"
+ // NavStatusNotValid is Not Valid (equipment does not provide navigation status information)
+ NavStatusNotValid = "V"
 )
 
 const (