pyModeS 2.21__tar.gz → 2.22.0__tar.gz

{pymodes-2.21 → pymodes-2.22.0}/.github/workflows/build-publish.yml

@@ -1,10 +1,14 @@
 name: Build and publish pyModeS
 
 on:
-  release:
-    types: [published]
+  push:
+    tags:
+      - "v*"
   workflow_dispatch:
 
+permissions:
+  contents: write
+
 env:
   CIBW_BUILD: cp310* cp311* cp312* cp313*
   CIBW_ARCHS_WINDOWS: auto64
@@ -59,7 +63,8 @@ jobs:
     environment: pypi
     permissions:
       id-token: write
-    if: github.event_name == 'release' && github.event.action == 'published'
+      contents: write
+    if: startsWith(github.ref, 'refs/tags/v')
     steps:
       - uses: actions/download-artifact@v4
         with:
@@ -71,4 +76,10 @@ jobs:
       - uses: pypa/gh-action-pypi-publish@release/v1
         with:
           user: __token__
-          password: ${{ secrets.PYPI_API_TOKEN_PYMODES }}
+          password: ${{ secrets.PYPI_API_TOKEN_PYMODES }}
+
+      - name: Create GitHub Release
+        uses: softprops/action-gh-release@v2
+        with:
+          generate_release_notes: true
+          files: dist/*

{pymodes-2.21 → pymodes-2.22.0}/.gitignore

@@ -1,3 +1,5 @@
+tmp/
+
 .DS_Store
 
 # Byte-compiled / optimized / DLL files
@@ -53,6 +55,9 @@ coverage.xml
 # Sphinx documentation
 docs/_build/
 
+# Local planning / brainstorming artifacts (not for publication)
+docs/superpowers/
+
 # PyBuilder
 target/
 

{pymodes-2.21 → pymodes-2.22.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: pyModeS
-Version: 2.21
+Version: 2.22.0
 Summary: Python Mode-S and ADS-B Decoder
 Project-URL: homepage, https://mode-s.org
 Project-URL: repository, https://github.com/junzis/pyModeS
@@ -123,7 +123,7 @@ If you want to make use of the (faster) c module, install ``pyModeS`` as follows
   # development version
   git clone https://github.com/junzis/pyModeS
   cd pyModeS
-  poetry install -E rtlsdr
+  uv sync --dev --all-extras
 
 
 View live traffic (modeslive)
@@ -208,7 +208,6 @@ Core functions for ADS-B decoding
   pms.adsb.position(msg_even, msg_odd, t_even, t_odd, lat_ref=None, lon_ref=None)
   pms.adsb.airborne_position(msg_even, msg_odd, t_even, t_odd)
   pms.adsb.surface_position(msg_even, msg_odd, t_even, t_odd, lat_ref, lon_ref)
-  pms.adsb.surface_velocity(msg)
 
   pms.adsb.position_with_ref(msg, lat_ref, lon_ref)
   pms.adsb.airborne_position_with_ref(msg, lat_ref, lon_ref)
@@ -219,17 +218,18 @@ Core functions for ADS-B decoding
   # Typecode: 19
   pms.adsb.velocity(msg)          # Handles both surface & airborne messages
   pms.adsb.speed_heading(msg)     # Handles both surface & airborne messages
-  pms.adsb.airborne_velocity(msg)
+  pms.adsb.surface_velocity(msg, source)
+  pms.adsb.airborne_velocity(msg, source)
 
 
 Note: When you have a fix position of the aircraft, it is convenient to use `position_with_ref()` method to decode with only one position message (either odd or even). This works with both airborne and surface position messages. But the reference position shall be within 180NM (airborne) or 45NM (surface) of the true position.
 
 
-Decode altitude replies in DF4 / DF20
-**************************************
+Decode altitude replies in DF0 / DF4 / DF16 /DF20
+**************************************************
 .. code:: python
 
-  pms.common.altcode(msg)   # Downlink format must be 4 or 20
+  pms.common.altcode(msg)   # Downlink format must be 0, 4, 16 or 20
 
 
 Decode identity replies in DF5 / DF21
@@ -305,7 +305,7 @@ To identify BDS 4,4 and 4,5 codes, you must set ``mrar`` argument to ``True`` in
 
 .. code:: python
 
-  pms.bds.infer(msg. mrar=True) 
+  pms.bds.infer(msg, mrar=True) 
 
 Once the correct MRAR and MHR messages are identified, decode them as follows:
 

{pymodes-2.21 → pymodes-2.22.0}/README.rst

@@ -100,7 +100,7 @@ If you want to make use of the (faster) c module, install ``pyModeS`` as follows
   # development version
   git clone https://github.com/junzis/pyModeS
   cd pyModeS
-  poetry install -E rtlsdr
+  uv sync --dev --all-extras
 
 
 View live traffic (modeslive)
@@ -185,7 +185,6 @@ Core functions for ADS-B decoding
   pms.adsb.position(msg_even, msg_odd, t_even, t_odd, lat_ref=None, lon_ref=None)
   pms.adsb.airborne_position(msg_even, msg_odd, t_even, t_odd)
   pms.adsb.surface_position(msg_even, msg_odd, t_even, t_odd, lat_ref, lon_ref)
-  pms.adsb.surface_velocity(msg)
 
   pms.adsb.position_with_ref(msg, lat_ref, lon_ref)
   pms.adsb.airborne_position_with_ref(msg, lat_ref, lon_ref)
@@ -196,17 +195,18 @@ Core functions for ADS-B decoding
   # Typecode: 19
   pms.adsb.velocity(msg)          # Handles both surface & airborne messages
   pms.adsb.speed_heading(msg)     # Handles both surface & airborne messages
-  pms.adsb.airborne_velocity(msg)
+  pms.adsb.surface_velocity(msg, source)
+  pms.adsb.airborne_velocity(msg, source)
 
 
 Note: When you have a fix position of the aircraft, it is convenient to use `position_with_ref()` method to decode with only one position message (either odd or even). This works with both airborne and surface position messages. But the reference position shall be within 180NM (airborne) or 45NM (surface) of the true position.
 
 
-Decode altitude replies in DF4 / DF20
-**************************************
+Decode altitude replies in DF0 / DF4 / DF16 /DF20
+**************************************************
 .. code:: python
 
-  pms.common.altcode(msg)   # Downlink format must be 4 or 20
+  pms.common.altcode(msg)   # Downlink format must be 0, 4, 16 or 20
 
 
 Decode identity replies in DF5 / DF21
@@ -282,7 +282,7 @@ To identify BDS 4,4 and 4,5 codes, you must set ``mrar`` argument to ``True`` in
 
 .. code:: python
 
-  pms.bds.infer(msg. mrar=True) 
+  pms.bds.infer(msg, mrar=True) 
 
 Once the correct MRAR and MHR messages are identified, decode them as follows:
 

{pymodes-2.21 → pymodes-2.22.0}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "pyModeS"
-version = "2.21"
+version = "2.22.0"
 description = "Python Mode-S and ADS-B Decoder"
 authors = [{ name = "Junzi Sun", email = "git@junzis.com" }]
 license = { text = "GNU GPL v3" }
@@ -27,8 +27,8 @@ homepage = "https://mode-s.org"
 repository = "https://github.com/junzis/pyModeS"
 issues = "https://github.com/junzis/pyModeS/issues"
 
-[tool.uv]
-dev-dependencies = [
+[dependency-groups]
+dev = [
     "mypy>=0.991",
     "flake8>=5.0.0",
     "black>=22.12.0",

{pymodes-2.21 → pymodes-2.22.0}/src/pyModeS/__init__.py

@@ -8,25 +8,19 @@ except Exception:
     from . import py_common as common  # type: ignore
     from .py_common import *  # type: ignore
 
-from .decoder import tell
-from .decoder import adsb
-from .decoder import commb
-from .decoder import allcall
-from .decoder import surv
-from .decoder import bds
-from .extra import aero
-from .extra import tcpclient
+from .decoder import adsb, allcall, bds, commb, surv, tell
+from .extra import aero, tcpclient
 
 __all__ = [
-    "common",
-    "tell",
     "adsb",
-    "commb",
+    "aero",
     "allcall",
-    "surv",
     "bds",
-    "aero",
+    "commb",
+    "common",
+    "surv",
     "tcpclient",
+    "tell",
 ]
 
 

{pymodes-2.21 → pymodes-2.22.0}/src/pyModeS/c_common.pxd

@@ -15,14 +15,14 @@ cpdef long floor(double x)
 cpdef str icao(str msg)
 cpdef bint is_icao_assigned(str icao)
 
-cpdef int typecode(str msg)
+cpdef object typecode(str msg)
 cpdef int cprNL(double lat)
 
 cpdef str idcode(str msg)
 cpdef str squawk(str binstr)
 
-cpdef int altcode(str msg)
-cpdef int altitude(str binstr)
+cpdef object altcode(str msg)
+cpdef object altitude(str binstr)
 
 cpdef str data(str msg)
 cpdef bint allzeros(str msg)

{pymodes-2.21 → pymodes-2.22.0}/src/pyModeS/c_common.pyx

@@ -97,7 +97,7 @@ cpdef long crc(str msg, bint encode=False):
         msg (string): 28 bytes hexadecimal message string
         encode (bool): True to encode the date only and return the checksum
     Returns:
-        int: message checksum, or partity bits (encoder)
+        int: message checksum, or parity bits (encoder)
 
     """
     # the CRC generator
@@ -183,34 +183,33 @@ cpdef bint is_icao_assigned(str icao):
 
     cdef long icaoint = hex2int(icao)
 
-    if 0x200000 < icaoint < 0x27FFFF:
+    if 0x200000 <= icaoint <= 0x27FFFF:
         return False  # AFI
-    if 0x280000 < icaoint < 0x28FFFF:
+    if 0x280000 <= icaoint <= 0x28FFFF:
         return False  # SAM
-    if 0x500000 < icaoint < 0x5FFFFF:
+    if 0x500000 <= icaoint <= 0x5FFFFF:
         return False  # EUR, NAT
-    if 0x600000 < icaoint < 0x67FFFF:
+    if 0x600000 <= icaoint <= 0x67FFFF:
         return False  # MID
-    if 0x680000 < icaoint < 0x6F0000:
+    if 0x680000 <= icaoint <= 0x6F0000:
         return False  # ASIA
-    if 0x900000 < icaoint < 0x9FFFFF:
+    if 0x900000 <= icaoint <= 0x9FFFFF:
         return False  # NAM, PAC
-    if 0xB00000 < icaoint < 0xBFFFFF:
+    if 0xB00000 <= icaoint <= 0xBFFFFF:
         return False  # CAR
-    if 0xD00000 < icaoint < 0xDFFFFF:
+    if 0xD00000 <= icaoint <= 0xDFFFFF:
         return False  # future
-    if 0xF00000 < icaoint < 0xFFFFFF:
+    if 0xF00000 <= icaoint <= 0xFFFFFF:
         return False  # future
 
     return True
 
 @cython.boundscheck(False)
 @cython.wraparound(False)
-cpdef int typecode(str msg):
+cpdef object typecode(str msg):
     """Type code of ADS-B message"""
     if df(msg) not in (17, 18):
-        return -1
-        # return None
+        return None
 
     cdef str tcbin = hex2bin(msg[8:10])
     return bin2int(tcbin[0:5])
@@ -282,18 +281,17 @@ cpdef str squawk(str binstr):
 
 @cython.boundscheck(False)
 @cython.wraparound(False)
-cpdef int altcode(str msg):
+cpdef object altcode(str msg):
     """Compute the altitude."""
     if df(msg) not in [0, 4, 16, 20]:
         raise RuntimeError("Message must be Downlink Format 0, 4, 16, or 20.")
 
-    alt = altitude(hex2bin(msg)[19:32])
-    return alt
+    return altitude(hex2bin(msg)[19:32])
 
 
 @cython.boundscheck(False)
 @cython.wraparound(False)
-cpdef int altitude(str binstr):
+cpdef object altitude(str binstr):
 
     if len(binstr) != 13 or not set(binstr).issubset(set("01")):
         raise RuntimeError("Input must be 13 bits binary string")
@@ -304,20 +302,20 @@ cpdef int altitude(str binstr):
     cdef char Mbit = binstr[6]
     cdef char Qbit = binstr[8]
 
-    cdef int alt = 0
+    alt = None
     cdef bytearray vbin
     cdef bytearray _graybytes = bytearray(11)
     cdef unsigned char[:] graybytes = _graybytes
 
     if bin2int(binstr) == 0:
         # altitude unknown or invalid
-        alt = -999999
+        return None
 
     elif Mbit == 48:  # unit in ft, "0" -> 48
         if Qbit == 49:  # 25ft interval, "1" -> 49
             vbin = _mbin[:6] + _mbin[7:8] + _mbin[9:]
             alt = bin2int(vbin.decode()) * 25 - 1000
-        if Qbit == 48:  # 100ft interval, above 50175ft, "0" -> 48
+        if Qbit == 48:  # 100ft interval, above 50187.5ft, "0" -> 48
             graybytes[8] = mbin[0]
             graybytes[2] = mbin[1]
             graybytes[9] = mbin[2]
@@ -341,7 +339,7 @@ cpdef int altitude(str binstr):
     return alt
 
 
-cpdef int gray2alt(str codestr):
+cpdef object gray2alt(str codestr):
     cdef str gc500 = codestr[:8]
     cdef int n500 = gray2int(gc500)
 
@@ -350,8 +348,7 @@ cpdef int gray2alt(str codestr):
     cdef int n100 = gray2int(gc100)
 
     if n100 in [0, 5, 6]:
-        return -1
-        #return None
+        return None
 
     if n100 == 7:
         n100 = 5

pymodes-2.21/src/pyModeS/c_common.pyi → pymodes-2.22.0/src/pyModeS/common.pyi

@@ -1,3 +1,5 @@
+from typing import Optional
+
 def hex2bin(hexstr: str) -> str: ...
 def bin2int(binstr: str) -> int: ...
 def hex2int(hexstr: str) -> int: ...
@@ -5,14 +7,16 @@ def bin2hex(binstr: str) -> str: ...
 def df(msg: str) -> int: ...
 def crc(msg: str, encode: bool = False) -> int: ...
 def floor(x: float) -> float: ...
-def icao(msg: str) -> str: ...
+def icao(msg: str) -> Optional[str]: ...
 def is_icao_assigned(icao: str) -> bool: ...
-def typecode(msg: str) -> int: ...
+def typecode(msg: str) -> Optional[int]: ...
 def cprNL(lat: float) -> int: ...
 def idcode(msg: str) -> str: ...
 def squawk(binstr: str) -> str: ...
-def altcode(msg: str) -> int: ...
-def altitude(binstr: str) -> int: ...
+def altcode(msg: str) -> Optional[int]: ...
+def altitude(binstr: str) -> Optional[int]: ...
+def gray2alt(binstr: str) -> Optional[int]: ...
+def gray2int(binstr: str) -> int: ...
 def data(msg: str) -> str: ...
 def allzeros(msg: str) -> bool: ...
 def wrongstatus(data: str, sb: int, msb: int, lsb: int) -> bool: ...

{pymodes-2.21 → pymodes-2.22.0}/src/pyModeS/decoder/__init__.py

@@ -1,5 +1,5 @@
 def tell(msg: str) -> None:
-    from .. import common, adsb, commb, bds
+    from .. import adsb, bds, commb, common
 
     def _print(label, value, unit=None):
         print("%28s: " % label, end="")
@@ -132,7 +132,7 @@ def tell(msg: str) -> None:
                 _print("TCAS/ACAS RA", tcas_ra_types[tcas_ra])
                 _print("Emergency status", emergency_types[emergency_status])
             else:
-                alt, alt_source = adsb.selected_altitude(msg)  # type: ignore
+                alt, alt_source = adsb.selected_altitude(msg)
                 baro = adsb.baro_pressure_setting(msg)
                 hdg = adsb.selected_heading(msg)
                 autopilot = adsb.autopilot(msg)
@@ -149,9 +149,7 @@ def tell(msg: str) -> None:
                 )
                 _print("Selected Heading", hdg, "°")
                 if not (common.bin2int((common.hex2bin(msg)[32:])[46]) == 0):
-                    _print(
-                        "Autopilot", types_29[autopilot] if autopilot else None
-                    )
+                    _print("Autopilot", types_29[autopilot] if autopilot else None)
                     _print("VNAV mode", types_29[vnav] if vnav else None)
                     _print(
                         "Altitude hold mode",
@@ -220,8 +218,7 @@ def tell(msg: str) -> None:
         if BDS == "BDS44":
             _print("Wind speed", commb.wind44(msg)[0], "knots")
             _print("Wind direction", commb.wind44(msg)[1], "degrees")
-            _print("Temperature 1", commb.temp44(msg)[0], "Celsius")
-            _print("Temperature 2", commb.temp44(msg)[1], "Celsius")
+            _print("Temperature", commb.temp44(msg), "Celsius")
             _print("Pressure", commb.p44(msg), "hPa")
             _print("Humidity", commb.hum44(msg), "%")
             _print("Turbulence", commb.turb44(msg))

{pymodes-2.21 → pymodes-2.22.0}/src/pyModeS/decoder/adsb.py

@@ -14,6 +14,7 @@ The ADS-B module also imports functions from the following modules:
 from __future__ import annotations
 
 from datetime import datetime
+from typing import Literal, overload
 
 from .. import common
 from . import uncertainty
@@ -48,52 +49,52 @@ from .bds.bds62 import (
 __all__ = [
     "airborne_position",
     "airborne_position_with_ref",
+    "airborne_velocity",
+    "altitude",
     "altitude05",
-    "surface_position",
-    "surface_position_with_ref",
-    "surface_velocity",
+    "altitude_diff",
+    "altitude_hold_mode",
+    "approach_mode",
+    "autopilot",
+    "baro_pressure_setting",
     "callsign",
     "category",
-    "airborne_velocity",
-    "altitude_diff",
+    "df",
     "emergency_squawk",
     "emergency_state",
-    "is_emergency",
-    "df",
+    "emergency_status",
+    "horizontal_mode",
     "icao",
-    "typecode",
-    "position",
-    "position_with_ref",
-    "altitude",
-    "velocity",
-    "speed_heading",
-    "oe_flag",
-    "version",
-    "nuc_p",
-    "nuc_v",
-    "nic_v1",
-    "nic_v2",
-    "nic_s",
-    "nic_a_c",
-    "nic_b",
+    "is_emergency",
+    "lnav_mode",
     "nac_p",
     "nac_v",
-    "sil",
+    "nic_a_c",
+    "nic_b",
+    "nic_s",
+    "nic_v1",
+    "nic_v2",
+    "nuc_p",
+    "nuc_v",
+    "oe_flag",
+    "position",
+    "position_with_ref",
     "selected_altitude",
-    "target_altitude",
-    "vertical_mode",
-    "horizontal_mode",
     "selected_heading",
+    "sil",
+    "speed_heading",
+    "surface_position",
+    "surface_position_with_ref",
+    "surface_velocity",
+    "target_altitude",
     "target_angle",
-    "baro_pressure_setting",
-    "autopilot",
-    "vnav_mode",
-    "altitude_hold_mode",
-    "approach_mode",
-    "lnav_mode",
     "tcas_operational",
     "tcas_ra",
-    "emergency_status",
+    "typecode",
+    "velocity",
+    "version",
+    "vertical_mode",
+    "vnav_mode",
 ]
 
 
@@ -195,7 +196,7 @@ def position_with_ref(msg: str, lat_ref: float, lon_ref: float) -> tuple[float,
         raise RuntimeError("incorrect or inconsistent message types")
 
 
-def altitude(msg: str) -> None | float:
+def altitude(msg: str) -> None | int:
     """Decode aircraft altitude.
 
     Args:
@@ -219,9 +220,25 @@ def altitude(msg: str) -> None | float:
         return altitude05(msg)
 
 
+@overload
+def velocity(
+    msg: str, source: Literal[False] = False
+) -> None | tuple[None | float, None | float, None | int, str]: ...
+
+
+@overload
+def velocity(
+    msg: str, source: Literal[True]
+) -> None | tuple[None | float, None | float, None | int, str, str, str | None]: ...
+
+
 def velocity(
     msg: str, source: bool = False
-) -> None | tuple[None | float, None | float, None | int, str]:
+) -> (
+    None
+    | tuple[None | float, None | float, None | int, str]
+    | tuple[None | float, None | float, None | int, str, str, str | None]
+):
     """Calculate the speed, heading, and vertical rate
        (handles both airborne or surface message).
 
@@ -232,7 +249,7 @@ def velocity(
             If set to True, the function will return six value instead of four.
 
     Returns:
-        int, float, int, string, [string], [string]:
+        float, float, int, string, [string], [string]:
             - Speed (kt)
             - Angle (degree), either ground track or heading
             - Vertical rate (ft/min)
@@ -325,7 +342,7 @@ def nuc_p(msg: str) -> tuple[int, None | float, None | int, None | int]:
     """
     tc = typecode(msg)
 
-    if tc is None or tc < 5 or tc is None or tc > 22:
+    if tc is None or tc < 5 or tc == 19 or tc > 22:
         raise RuntimeError(
             "%s: Not a surface position message (5<TC<8), \
             airborne position message (8<TC<19), \

{pymodes-2.21 → pymodes-2.22.0}/src/pyModeS/decoder/allcall.py

@@ -2,8 +2,8 @@
 Decode all-call reply messages, with downlink format 11
 """
 
-
 from __future__ import annotations
+
 from typing import Callable, TypeVar
 
 from .. import common
@@ -13,7 +13,6 @@ F = Callable[[str], T]
 
 
 def _checkdf(func: F[T]) -> F[T]:
-
     """Ensure downlink format is 11."""
 
     def wrapper(msg: str) -> T:
@@ -82,10 +81,7 @@ def capability(msg: str) -> tuple[int, None | str]:
     elif ca == 5:
         text = "level 2 transponder, ability to set CA to 7, airborne"
     elif ca == 6:
-        text = (
-            "evel 2 transponder, ability to set CA to 7, "
-            "either airborne or ground"
-        )
+        text = "evel 2 transponder, ability to set CA to 7, either airborne or ground"
     elif ca == 7:
         text = (
             "Downlink Request value is not 0, "

{pymodes-2.21 → pymodes-2.22.0}/src/pyModeS/decoder/bds/__init__.py

@@ -39,9 +39,7 @@ from . import (  # noqa: F401
 )
 
 
-def is50or60(
-    msg: str, spd_ref: float, trk_ref: float, alt_ref: float
-) -> Optional[str]:
+def is50or60(msg: str, spd_ref: float, trk_ref: float, alt_ref: float) -> Optional[str]:
     """Use reference ground speed and trk to determine BDS50 and DBS60.
 
     Args:

{pymodes-2.21 → pymodes-2.22.0}/src/pyModeS/decoder/bds/bds05.py

@@ -149,11 +149,6 @@ def altitude(msg: str) -> None | int:
 
     if tc < 19:
         altcode = altbin[0:6] + "0" + altbin[6:]
-        alt = common.altitude(altcode)
-        if alt != -999999:
-            return alt
-        else:
-            # return None if altitude is invalid
-            return None
+        return common.altitude(altcode)
     else:
-        return common.bin2int(altbin) * 3.28084  # type: ignore
+        return int(common.bin2int(altbin) * 3.28084)

{pymodes-2.21 → pymodes-2.22.0}/src/pyModeS/decoder/bds/bds06.py

@@ -7,6 +7,7 @@
 from __future__ import annotations
 
 from datetime import datetime
+from typing import Literal, overload
 
 from ... import common
 
@@ -138,9 +139,24 @@ def surface_position_with_ref(
     return lat, lon
 
 
+@overload
+def surface_velocity(
+    msg: str, source: Literal[False] = False
+) -> tuple[None | float, None | float, int, str]: ...
+
+
+@overload
+def surface_velocity(
+    msg: str, source: Literal[True]
+) -> tuple[None | float, None | float, int, str, str, str | None]: ...
+
+
 def surface_velocity(
     msg: str, source: bool = False
-) -> tuple[None | float, None | float, int, str]:
+) -> (
+    tuple[None | float, None | float, int, str]
+    | tuple[None | float, None | float, int, str, str, str | None]
+):
     """Decode surface velocity from a surface position message
 
     Args:
@@ -150,7 +166,7 @@ def surface_velocity(
             If set to True, the function will return six value instead of four.
 
     Returns:
-        int, float, int, string, [string], [string]:
+        float, float, int, string, [string], [string]:
             - Speed (kt)
             - Angle (degree), ground track
             - Vertical rate, always 0
@@ -189,6 +205,6 @@ def surface_velocity(
         spd = kts_lb[i - 1] + (mov - mov_lb[i - 1]) * step[i - 1]
 
     if source:
-        return spd, trk, 0, "GS", "TRUE_NORTH", None  # type: ignore
+        return spd, trk, 0, "GS", "TRUE_NORTH", None
     else:
         return spd, trk, 0, "GS"