1 files changed, 28 insertions, 25 deletions

diff --git a/app/gps.c b/app/gps.c
index a8b8099..e87167d 100644
--- a/app/gps.c
+++ b/app/gps.c
@@ -120,25 +120,25 @@ static int ubx_recv_aid_eph (uint8_t *ptr, unsigned len)
   ptr += ubx_get_u32 (ptr, &sv);
   len -= 4;
 
-  if ((sv<1) ||( sv>32)) return 0;
+  if ((sv < 1) || (sv > 32)) return 0;
+
+  i = sv - 1;
 
-  i=sv-1;
-  
 
   ptr += ubx_get_u32 (ptr, &ephemeris[i].how);
   len -= 4;
 
-  printf("Received %d bytes of ephemeris for SV%d\r\n",len,(int) sv);
+  printf ("Received %d bytes of ephemeris for SV%d\r\n", len, (int) sv);
 
-  if ((!len) ||( !ephemeris[i].how)) return 0 ;
+  if ((!len) || (!ephemeris[i].how)) return 0 ;
 
-  memcpy(&ephemeris[i].sf1,ptr,32);
-  len-=32;
-  ptr+=32;
-  memcpy(&ephemeris[i].sf2,ptr,32);
-  len-=32;
-  ptr+=32;
-  memcpy(&ephemeris[i].sf3,ptr,32);
+  memcpy (&ephemeris[i].sf1, ptr, 32);
+  len -= 32;
+  ptr += 32;
+  memcpy (&ephemeris[i].sf2, ptr, 32);
+  len -= 32;
+  ptr += 32;
+  memcpy (&ephemeris[i].sf3, ptr, 32);
 
   return 0;
 }
@@ -170,9 +170,9 @@ ubx_recv_nav_posllh (uint8_t *ptr, unsigned len)
   gps_lon = 1.e-7 * (double) ilon;
 
 
-  printf ("POS: %.4f %.4f\r\n", gps_lat, gps_lon);
+  printf ("POS: %s %s\r\n", fd1 (gps_lat, 0, 1, 4), fd2 (gps_lon, 0, 1, 4));
 
-  snprintf (gps_pos, sizeof (gps_pos) - 1, "location: %.4f %.4f", gps_lat, gps_lon);
+  snprintf (gps_pos, sizeof (gps_pos) - 1, "location: %s %s", fd1 (gps_lat, 0, 1, 4), fd2 (gps_lon, 0, 1, 4));
 
   return 0;
 }
@@ -636,6 +636,7 @@ ubx_recv (uint8_t class, uint8_t id, uint8_t *payload, unsigned len)
     }
 
     break;
+
   case 0xd:
     switch (id) {
     case 0x4:
@@ -669,9 +670,10 @@ ubx_recv (uint8_t class, uint8_t id, uint8_t *payload, unsigned len)
     case 0x30:
       ubx_recv_almanac (payload, len);
       break;
-	case 0x31:
- 	ubx_recv_aid_eph(payload,len);
-	break;
+
+    case 0x31:
+      ubx_recv_aid_eph (payload, len);
+      break;
 
     case 0x50:
       printf ("xfer ack\r\n");
@@ -900,20 +902,21 @@ ubx_send (uint8_t class, uint8_t id, const void *_payload, unsigned len)
 void
 gps_dispatch (void)
 {
-static uint32_t last_eph;
-uint32_t t ;
+  static uint32_t last_eph;
+  uint32_t t ;
 
   ubx_dispatch_search (-1, -1, NULL);
   gps_pps_dispatch();
 
 
 
-t=ticks-last_eph;
-if (t>60000)  {
-	printf("Requesting ephemeris data\r\n");
-        gps_dump_eph();
-	last_eph=ticks;
-}
+  t = ticks - last_eph;
+
+  if (t > 60000)  {
+    printf ("Requesting ephemeris data\r\n");
+    gps_dump_eph();
+    last_eph = ticks;
+  }
 
 }