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File pashr.patch of Package gpsd

--- driver_nmea0183-orig.c	2017-09-13 13:00:26.655381516 +0200
+++ driver_nmea0183.c	2017-09-13 13:00:31.403381419 +0200
@@ -1344,12 +1344,11 @@
  * $PASHDR,type[,val[,val]]*CS
  * type is an alphabetic subsentence type
  *
- * Oxford Technical Solutions (OXTS) also uses the $PASHR sentence,
+ * Oxford Technical Solutions (OxTS) also uses the $PASHR sentence,
  * but with a very different sentence contents:
  * $PASHR,HHMMSS.SSS,HHH.HH,T,RRR.RR,PPP.PP,aaa.aa,r.rrr,p.ppp,h.hhh,Q1,Q2*CS
  *
- * so field 1 in ASHTECH is always alphabetic and numeric in OXTS
- * FIXME: decode OXTS $PASHDR
+ * so field 1 in ASHTECH is always alphabetic and numeric in OxTS
  *
  */
 static gps_mask_t processPASHR(int c UNUSED, char *field[],
@@ -1424,6 +1423,35 @@
 		 session->gpsdata.satellites_used);
 	session->gpsdata.skyview_time = NAN;
 	mask |= SATELLITE_SET | USED_IS;
+    } else if (0 == strcmp("T", field[3])) { /* Assume OxTS PASHR */
+	merge_hhmmss(field[1], session);
+	register_fractional_time(field[0], field[1], session);
+	session->gpsdata.attitude.heading = safe_atof(field[2]);
+	session->gpsdata.attitude.mag_st = '\0';
+	session->gpsdata.attitude.roll = safe_atof(field[4]);
+	session->gpsdata.attitude.roll_st = '\0';
+	session->gpsdata.attitude.pitch = safe_atof(field[5]);
+	session->gpsdata.attitude.pitch_st = '\0';
+	session->gpsdata.attitude.yaw = NAN;
+	session->gpsdata.attitude.yaw_st = '\0';
+	session->gpsdata.attitude.dip = NAN;
+	session->gpsdata.attitude.mag_len = NAN;
+	session->gpsdata.attitude.mag_x = NAN;
+	session->gpsdata.attitude.mag_y = NAN;
+	session->gpsdata.attitude.mag_z = NAN;
+	session->gpsdata.attitude.acc_len = NAN;
+	session->gpsdata.attitude.acc_x = NAN;
+	session->gpsdata.attitude.acc_y = NAN;
+	session->gpsdata.attitude.acc_z = NAN;
+	session->gpsdata.attitude.gyro_x = NAN;
+	session->gpsdata.attitude.gyro_y = NAN;
+	session->gpsdata.attitude.temp = NAN;
+	session->gpsdata.attitude.depth = NAN;
+	mask |= (TIME_SET | ATTITUDE_SET);
+	gpsd_log(&session->context->errout, LOG_RAW,
+		 "time %.3f, heading %lf.\n",
+		 session->newdata.time,
+		 session->gpsdata.attitude.heading);
     }
     return mask;
 }

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File pashr.patch of Package gpsd

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