From 81b272a394ac2c17fc80f9504f99386b2d46d9d2 Mon Sep 17 00:00:00 2001
From: bigmouseears <nathanreynolds762@gmail.com>
Date: Mon, 25 May 2026 18:59:59 -0700
Subject: [PATCH 1/5] Added checks to discard gps data if RMC or GLL status is
 invalid

---
 gps/gps.c | 65 ++++++++++++++++++++++++++++++++++++++++---------------
 1 file changed, 48 insertions(+), 17 deletions(-)

diff --git a/gps/gps.c b/gps/gps.c
index db7427d..cf09f35 100644
--- a/gps/gps.c
+++ b/gps/gps.c
@@ -303,26 +303,57 @@ if (!strcmp(token, "$GPGGA"))
     }
 else if (!strcmp(token, "$GPRMC")) 
     {
-    gps_ptr->utc_time = gps_string_to_float(GPSstrParse, &idx);
-    gps_ptr->rmc_status = gps_string_to_char(GPSstrParse, &idx); /* unused */
-    gps_ptr->nmea_latitude = gps_string_to_float(GPSstrParse, &idx);
-    gps_ptr->ns = gps_string_to_char(GPSstrParse, &idx);
-    gps_ptr->nmea_longitude = gps_string_to_float(GPSstrParse, &idx);
-    gps_ptr->ew = gps_string_to_char(GPSstrParse, &idx);
-    gps_ptr->speed_k = gps_string_to_float(GPSstrParse, &idx);
-    gps_ptr->course_d = gps_string_to_float(GPSstrParse, &idx);
-    gps_ptr->date = (int)(0.5 + gps_string_to_float(GPSstrParse, &idx));
-    gps_conv_latitude_longitude( gps_ptr );
+    /* Parse data */
+    float utc_time = gps_string_to_float(GPSstrParse, &idx);
+    char rmc_status = gps_string_to_char(GPSstrParse, &idx);
+    float nmea_latitude = gps_string_to_float(GPSstrParse, &idx);
+    char ns = gps_string_to_char(GPSstrParse, &idx);
+    float nmea_longitude = gps_string_to_float(GPSstrParse, &idx);
+    char ew = gps_string_to_char(GPSstrParse, &idx);
+    float speed_k = gps_string_to_float(GPSstrParse, &idx);
+    float course_d = gps_string_to_float(GPSstrParse, &idx);
+    int date = (int)(0.5 + gps_string_to_float(GPSstrParse, &idx));
+
+    /* Save status */
+    gps_ptr->rmc_status = rmc_status;
+    
+    /* Save rest of data only if status is A: Active */
+    if (rmc_status == 'A')
+        {
+        gps_ptr->utc_time = utc_time;
+        gps_ptr->nmea_latitude = nmea_latitude;
+        gps_ptr->ns = ns;
+        gps_ptr->nmea_longitude = nmea_longitude;
+        gps_ptr->ew = ew;
+        gps_ptr->speed_k = speed_k;
+        gps_ptr->course_d = course_d;
+        gps_ptr->date = date;
+        gps_conv_latitude_longitude( gps_ptr );
+        }
     }
 else if (!strcmp(token, "$GPGLL")) 
     {
-    gps_ptr->nmea_latitude = gps_string_to_float(GPSstrParse, &idx);
-    gps_ptr->ns = gps_string_to_char(GPSstrParse, &idx);
-    gps_ptr->nmea_longitude = gps_string_to_float(GPSstrParse, &idx);
-    gps_ptr->ew = gps_string_to_char(GPSstrParse, &idx);
-    gps_ptr->utc_time = gps_string_to_float(GPSstrParse, &idx);
-    gps_ptr->gll_status = gps_string_to_char(GPSstrParse, &idx);
-    gps_conv_latitude_longitude( gps_ptr );
+    /* Parse data */
+    float nmea_latitude = gps_string_to_float(GPSstrParse, &idx);
+    char ns = gps_string_to_char(GPSstrParse, &idx);
+    float nmea_longitude = gps_string_to_float(GPSstrParse, &idx);
+    char ew = gps_string_to_char(GPSstrParse, &idx);
+    float utc_time = gps_string_to_float(GPSstrParse, &idx);
+    char gll_status = gps_string_to_char(GPSstrParse, &idx);
+    
+    /* Store status */
+    gps_ptr->gll_status = gll_status;
+
+    /* Save rest of data only if status is A: Data Valid */
+    if (gll_status == 'A')
+        {
+        gps_ptr->nmea_latitude = nmea_latitude;
+        gps_ptr->ns = ns;
+        gps_ptr->nmea_longitude = nmea_longitude;
+        gps_ptr->ew = ew;
+        gps_ptr->utc_time = utc_time;
+        gps_conv_latitude_longitude( gps_ptr );
+        }
     }
 else if (!strcmp(token, "$GPVTG")) 
     {

From a787b67ab9f5f797e02e11a9448108ebde3f8aa5 Mon Sep 17 00:00:00 2001
From: bigmouseears <nathanreynolds762@gmail.com>
Date: Tue, 2 Jun 2026 16:20:55 -0700
Subject: [PATCH 2/5] Attempt at updating unit tests

---
 _test/driver/gps/cases/NMEA_inputs.txt        |  4 ++--
 _test/driver/gps/cases/gps_parse_expected.txt |  4 +++-
 gps/gps.c                                     | 21 +++++++++++++++++++
 3 files changed, 26 insertions(+), 3 deletions(-)

diff --git a/_test/driver/gps/cases/NMEA_inputs.txt b/_test/driver/gps/cases/NMEA_inputs.txt
index eddcf58..ea00284 100644
--- a/_test/driver/gps/cases/NMEA_inputs.txt
+++ b/_test/driver/gps/cases/NMEA_inputs.txt
@@ -13,5 +13,5 @@
 "$GPGLL,3953.88008971,N,10506.75318910,W,034138.00,A,D*7A",
 "$GPGLL,5109.0262317,N,11401.8407304,W,202725.00,A,D*79",
 "$GPGLL,,,,,,,",
-
-
+"$GPGLL,5109.0262317,N,11401.8407304,W,202725.00,V,D*79",
+"$GPRMC,134734.000,A,5540.3233,N,01231.2941,E,1.23,107.22,041112,,,A*63",
\ No newline at end of file
diff --git a/_test/driver/gps/cases/gps_parse_expected.txt b/_test/driver/gps/cases/gps_parse_expected.txt
index be0c2d3..b88f158 100644
--- a/_test/driver/gps/cases/gps_parse_expected.txt
+++ b/_test/driver/gps/cases/gps_parse_expected.txt
@@ -12,4 +12,6 @@
 "0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0,0,0,0,0.000000,0.000000,0,0,0.000000,0.000000,0,0,0.000000,0,0.000000,0,0,0.000000,0",
 "39.898003,-105.112549,0.000000,10506.752930,3953.880127,34138.000000,N,W,0,0,0.000000,0.000000,0,0,0.000000,0.000000,0,A,0.000000,0,0.000000,0,0,0.000000,0",
 "51.150440,-114.030678,0.000000,11401.840820,5109.026367,202725.000000,N,W,0,0,0.000000,0.000000,0,0,0.000000,0.000000,0,A,0.000000,0,0.000000,0,0,0.000000,0",
-"0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0,0,0,0,0.000000,0.000000,0,0,0.000000,0.000000,0,0,0.000000,0,0.000000,0,0,0.000000,0"
\ No newline at end of file
+"0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0,0,0,0,0.000000,0.000000,0,0,0.000000,0.000000,0,0,0.000000,0,0.000000,0,0,0.000000,0"
+"0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0,0,0,0,0.000000,0.000000,0,0,0.000000,0.000000,0,V,0.000000,0,0.000000,0,0,0.000000,0"
+"0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,N,E,0,0,0.000000,0.000000,0,V,0.000000,0.000000,0,0,0.000000,0,0.000000,0,0,0.000000,0",
\ No newline at end of file
diff --git a/gps/gps.c b/gps/gps.c
index cf09f35..f34f091 100644
--- a/gps/gps.c
+++ b/gps/gps.c
@@ -330,6 +330,18 @@ else if (!strcmp(token, "$GPRMC"))
         gps_ptr->date = date;
         gps_conv_latitude_longitude( gps_ptr );
         }
+    else
+        {
+        gps_ptr->utc_time = 0.0;
+        gps_ptr->nmea_latitude = 0.0;
+        gps_ptr->ns = 0;
+        gps_ptr->nmea_longitude = 0.0;
+        gps_ptr->ew = 0;
+        gps_ptr->speed_k = 0.0;
+        gps_ptr->course_d = 0.0;
+        gps_ptr->date = 0.0;
+        gps_conv_latitude_longitude( gps_ptr );
+        }
     }
 else if (!strcmp(token, "$GPGLL")) 
     {
@@ -354,6 +366,15 @@ else if (!strcmp(token, "$GPGLL"))
         gps_ptr->utc_time = utc_time;
         gps_conv_latitude_longitude( gps_ptr );
         }
+    else
+        {
+        gps_ptr->nmea_latitude = 0.0;
+        gps_ptr->ns = 0;
+        gps_ptr->nmea_longitude = 0.0;
+        gps_ptr->ew = 0;
+        gps_ptr->utc_time = 0.0;
+        gps_conv_latitude_longitude( gps_ptr );
+        }
     }
 else if (!strcmp(token, "$GPVTG")) 
     {

From 42c0ea765686f73f5cfa17acc59d91937ddc103e Mon Sep 17 00:00:00 2001
From: bigmouseears <nathanreynolds762@gmail.com>
Date: Tue, 2 Jun 2026 18:07:46 -0700
Subject: [PATCH 3/5] Forgot to change the num_cases initalization. Here is the
 commit where I do it.

---
 _test/driver/gps/test_gps.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/_test/driver/gps/test_gps.c b/_test/driver/gps/test_gps.c
index 0a0f11d..eb44c3e 100644
--- a/_test/driver/gps/test_gps.c
+++ b/_test/driver/gps/test_gps.c
@@ -138,7 +138,7 @@ void test_GPS_parse
 /*------------------------------------------------------------------------------
 Initializations
 ------------------------------------------------------------------------------*/
-int num_cases = 15;
+int num_cases = 17;
 char buffer[200] = ""; // An NMEA message is 82 characters, but the way we parse may end up with more in order to represent the struct
 
 // Source: https://github.com/esutton/gps-nmea-log-files/blob/master/AMOD_AGL3080_20121104_134730.txt

From 8f706fc3a95bc7fae0e7bde5d7b4bdb3fea653b0 Mon Sep 17 00:00:00 2001
From: bigmouseears <nathanreynolds762@gmail.com>
Date: Tue, 9 Jun 2026 15:47:21 -0700
Subject: [PATCH 4/5] Attempt to fix test cases

---
 _test/driver/gps/cases/NMEA_inputs.txt        |  6 +++---
 _test/driver/gps/cases/gps_parse_expected.txt |  6 +++---
 gps/gps.c                                     | 21 -------------------
 3 files changed, 6 insertions(+), 27 deletions(-)

diff --git a/_test/driver/gps/cases/NMEA_inputs.txt b/_test/driver/gps/cases/NMEA_inputs.txt
index ea00284..1a80965 100644
--- a/_test/driver/gps/cases/NMEA_inputs.txt
+++ b/_test/driver/gps/cases/NMEA_inputs.txt
@@ -7,11 +7,11 @@
 "$GPVTG,90.16,T,,M,1.75,N,3.2,K,A*31",
 "$GPGGA,134733.000,5540.3231,N,01231.2938,E,1,10,0.8,24.9,M,41.5,M,,0000*6D",
 "$GPRMC,134733.000,A,5540.3231,N,01231.2938,E,1.83,113.00,041112,,,A*67",
+"$GPRMC,134733.000,V,0000.0000,N,00000.0000,E,1.83,000.00,041112,,,A*67",
 "$GPGGA,134734.000,5540.3233,S,01231.2941,W,1,10,0.8,23.7,M,41.5,M,,0000*6F",
 "$GPRMC,134734.000,A,5540.3233,N,01231.2941,E,1.23,107.22,041112,,,A*63",
 "$GPGSA,A,3,03,22,06,19,11,14,32,01,28,18,,,1.8,0.8,1.6*3F",
 "$GPGLL,3953.88008971,N,10506.75318910,W,034138.00,A,D*7A",
 "$GPGLL,5109.0262317,N,11401.8407304,W,202725.00,A,D*79",
-"$GPGLL,,,,,,,",
-"$GPGLL,5109.0262317,N,11401.8407304,W,202725.00,V,D*79",
-"$GPRMC,134734.000,A,5540.3233,N,01231.2941,E,1.23,107.22,041112,,,A*63",
\ No newline at end of file
+"$GPGLL,0000.0000000,N,00000.0000000,W,000000.00,V,D*79",
+"$GPGLL,,,,,,,",
\ No newline at end of file
diff --git a/_test/driver/gps/cases/gps_parse_expected.txt b/_test/driver/gps/cases/gps_parse_expected.txt
index b88f158..361927c 100644
--- a/_test/driver/gps/cases/gps_parse_expected.txt
+++ b/_test/driver/gps/cases/gps_parse_expected.txt
@@ -7,11 +7,11 @@
 "0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0,0,0,0,0.000000,0.000000,0,0,1.750000,0.000000,0,0,90.160004,T,0.000000,M,N,3.200000,K",
 "55.672054,12.521564,0.000000,1231.293823,5540.323242,134733.000000,N,E,1,10,0.800000,24.900000,M,0,0.000000,0.000000,0,0,0.000000,0,0.000000,0,0,0.000000,0",
 "55.672054,12.521564,0.000000,1231.293823,5540.323242,134733.000000,N,E,0,0,0.000000,0.000000,0,A,1.830000,113.000000,41112,0,0.000000,0,0.000000,0,0,0.000000,0",
+"55.672054,12.521564,0.000000,1231.293823,5540.323242,134733.000000,N,E,0,0,0.000000,0.000000,0,V,1.830000,113.000000,41112,0,0.000000,0,0.000000,0,0,0.000000,0",
 "-55.672054,-12.521567,0.000000,1231.294067,5540.323242,134734.000000,S,W,1,10,0.800000,23.700001,M,0,0.000000,0.000000,0,0,0.000000,0,0.000000,0,0,0.000000,0",
 "55.672054,12.521567,0.000000,1231.294067,5540.323242,134734.000000,N,E,0,0,0.000000,0.000000,0,A,1.230000,107.220001,41112,0,0.000000,0,0.000000,0,0,0.000000,0",
 "0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0,0,0,0,0.000000,0.000000,0,0,0.000000,0.000000,0,0,0.000000,0,0.000000,0,0,0.000000,0",
 "39.898003,-105.112549,0.000000,10506.752930,3953.880127,34138.000000,N,W,0,0,0.000000,0.000000,0,0,0.000000,0.000000,0,A,0.000000,0,0.000000,0,0,0.000000,0",
 "51.150440,-114.030678,0.000000,11401.840820,5109.026367,202725.000000,N,W,0,0,0.000000,0.000000,0,0,0.000000,0.000000,0,A,0.000000,0,0.000000,0,0,0.000000,0",
-"0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0,0,0,0,0.000000,0.000000,0,0,0.000000,0.000000,0,0,0.000000,0,0.000000,0,0,0.000000,0"
-"0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0,0,0,0,0.000000,0.000000,0,0,0.000000,0.000000,0,V,0.000000,0,0.000000,0,0,0.000000,0"
-"0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,N,E,0,0,0.000000,0.000000,0,V,0.000000,0.000000,0,0,0.000000,0,0.000000,0,0,0.000000,0",
\ No newline at end of file
+"51.150440,-114.030678,0.000000,11401.840820,5109.026367,202725.000000,N,W,0,0,0.000000,0.000000,0,0,0.000000,0.000000,0,V,0.000000,0,0.000000,0,0,0.000000,0",
+"0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0,0,0,0,0.000000,0.000000,0,0,0.000000,0.000000,0,0,0.000000,0,0.000000,0,0,0.000000,0"
\ No newline at end of file
diff --git a/gps/gps.c b/gps/gps.c
index f34f091..cf09f35 100644
--- a/gps/gps.c
+++ b/gps/gps.c
@@ -330,18 +330,6 @@ else if (!strcmp(token, "$GPRMC"))
         gps_ptr->date = date;
         gps_conv_latitude_longitude( gps_ptr );
         }
-    else
-        {
-        gps_ptr->utc_time = 0.0;
-        gps_ptr->nmea_latitude = 0.0;
-        gps_ptr->ns = 0;
-        gps_ptr->nmea_longitude = 0.0;
-        gps_ptr->ew = 0;
-        gps_ptr->speed_k = 0.0;
-        gps_ptr->course_d = 0.0;
-        gps_ptr->date = 0.0;
-        gps_conv_latitude_longitude( gps_ptr );
-        }
     }
 else if (!strcmp(token, "$GPGLL")) 
     {
@@ -366,15 +354,6 @@ else if (!strcmp(token, "$GPGLL"))
         gps_ptr->utc_time = utc_time;
         gps_conv_latitude_longitude( gps_ptr );
         }
-    else
-        {
-        gps_ptr->nmea_latitude = 0.0;
-        gps_ptr->ns = 0;
-        gps_ptr->nmea_longitude = 0.0;
-        gps_ptr->ew = 0;
-        gps_ptr->utc_time = 0.0;
-        gps_conv_latitude_longitude( gps_ptr );
-        }
     }
 else if (!strcmp(token, "$GPVTG")) 
     {

From c0293a1d38230dbb121412a1c8bf9e3fa071fc7b Mon Sep 17 00:00:00 2001
From: bigmouseears <nathanreynolds762@gmail.com>
Date: Thu, 30 Jul 2026 13:50:48 -0700
Subject: [PATCH 5/5] GLL and RMC use their last valid information in the case
 of invalid data. Also added two new test cases.

---
 _test/driver/gps/cases/NMEA_inputs.txt        |  2 ++
 _test/driver/gps/cases/gps_parse_actual.txt   |  4 ++++
 _test/driver/gps/cases/gps_parse_expected.txt |  2 ++
 _test/driver/gps/test_gps.c                   |  2 +-
 gps/gps.c                                     | 24 +++++++++++++++++++
 5 files changed, 33 insertions(+), 1 deletion(-)

diff --git a/_test/driver/gps/cases/NMEA_inputs.txt b/_test/driver/gps/cases/NMEA_inputs.txt
index 1a80965..3de317a 100644
--- a/_test/driver/gps/cases/NMEA_inputs.txt
+++ b/_test/driver/gps/cases/NMEA_inputs.txt
@@ -8,10 +8,12 @@
 "$GPGGA,134733.000,5540.3231,N,01231.2938,E,1,10,0.8,24.9,M,41.5,M,,0000*6D",
 "$GPRMC,134733.000,A,5540.3231,N,01231.2938,E,1.83,113.00,041112,,,A*67",
 "$GPRMC,134733.000,V,0000.0000,N,00000.0000,E,1.83,000.00,041112,,,A*67",
+"$GPRMC,111111.111,V,1111.1111,N,11111.1111,E,1.83,111.11,041112,,,A*67",
 "$GPGGA,134734.000,5540.3233,S,01231.2941,W,1,10,0.8,23.7,M,41.5,M,,0000*6F",
 "$GPRMC,134734.000,A,5540.3233,N,01231.2941,E,1.23,107.22,041112,,,A*63",
 "$GPGSA,A,3,03,22,06,19,11,14,32,01,28,18,,,1.8,0.8,1.6*3F",
 "$GPGLL,3953.88008971,N,10506.75318910,W,034138.00,A,D*7A",
 "$GPGLL,5109.0262317,N,11401.8407304,W,202725.00,A,D*79",
 "$GPGLL,0000.0000000,N,00000.0000000,W,000000.00,V,D*79",
+"$GPGLL,1111.1111111,N,11111.1111111,W,111111.11,V,D*79",
 "$GPGLL,,,,,,,",
\ No newline at end of file
diff --git a/_test/driver/gps/cases/gps_parse_actual.txt b/_test/driver/gps/cases/gps_parse_actual.txt
index c2d5ade..75b0f64 100644
--- a/_test/driver/gps/cases/gps_parse_actual.txt
+++ b/_test/driver/gps/cases/gps_parse_actual.txt
@@ -7,9 +7,13 @@
 0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0,0,0,0,0.000000,0.000000,0,0,1.750000,0.000000,0,0,90.160004,T,0.000000,M,N,3.200000,K
 55.672054,12.521564,0.000000,1231.293823,5540.323242,134733.000000,N,E,1,10,0.800000,24.900000,M,0,0.000000,0.000000,0,0,0.000000,0,0.000000,0,0,0.000000,0
 55.672054,12.521564,0.000000,1231.293823,5540.323242,134733.000000,N,E,0,0,0.000000,0.000000,0,A,1.830000,113.000000,41112,0,0.000000,0,0.000000,0,0,0.000000,0
+55.672054,12.521564,0.000000,1231.293823,5540.323242,134733.000000,N,E,0,0,0.000000,0.000000,0,V,1.830000,113.000000,41112,0,0.000000,0,0.000000,0,0,0.000000,0
+55.672054,12.521564,0.000000,1231.293823,5540.323242,134733.000000,N,E,0,0,0.000000,0.000000,0,V,1.830000,113.000000,41112,0,0.000000,0,0.000000,0,0,0.000000,0
 -55.672054,-12.521567,0.000000,1231.294067,5540.323242,134734.000000,S,W,1,10,0.800000,23.700001,M,0,0.000000,0.000000,0,0,0.000000,0,0.000000,0,0,0.000000,0
 55.672054,12.521567,0.000000,1231.294067,5540.323242,134734.000000,N,E,0,0,0.000000,0.000000,0,A,1.230000,107.220001,41112,0,0.000000,0,0.000000,0,0,0.000000,0
 0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0,0,0,0,0.000000,0.000000,0,0,0.000000,0.000000,0,0,0.000000,0,0.000000,0,0,0.000000,0
 39.898003,-105.112549,0.000000,10506.752930,3953.880127,34138.000000,N,W,0,0,0.000000,0.000000,0,0,0.000000,0.000000,0,A,0.000000,0,0.000000,0,0,0.000000,0
 51.150440,-114.030678,0.000000,11401.840820,5109.026367,202725.000000,N,W,0,0,0.000000,0.000000,0,0,0.000000,0.000000,0,A,0.000000,0,0.000000,0,0,0.000000,0
+51.150440,-114.030678,0.000000,11401.840820,5109.026367,202725.000000,N,W,0,0,0.000000,0.000000,0,0,0.000000,0.000000,0,V,0.000000,0,0.000000,0,0,0.000000,0
+51.150440,-114.030678,0.000000,11401.840820,5109.026367,202725.000000,N,W,0,0,0.000000,0.000000,0,0,0.000000,0.000000,0,V,0.000000,0,0.000000,0,0,0.000000,0
 0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0,0,0,0,0.000000,0.000000,0,0,0.000000,0.000000,0,0,0.000000,0,0.000000,0,0,0.000000,0
diff --git a/_test/driver/gps/cases/gps_parse_expected.txt b/_test/driver/gps/cases/gps_parse_expected.txt
index 361927c..c5bea77 100644
--- a/_test/driver/gps/cases/gps_parse_expected.txt
+++ b/_test/driver/gps/cases/gps_parse_expected.txt
@@ -8,10 +8,12 @@
 "55.672054,12.521564,0.000000,1231.293823,5540.323242,134733.000000,N,E,1,10,0.800000,24.900000,M,0,0.000000,0.000000,0,0,0.000000,0,0.000000,0,0,0.000000,0",
 "55.672054,12.521564,0.000000,1231.293823,5540.323242,134733.000000,N,E,0,0,0.000000,0.000000,0,A,1.830000,113.000000,41112,0,0.000000,0,0.000000,0,0,0.000000,0",
 "55.672054,12.521564,0.000000,1231.293823,5540.323242,134733.000000,N,E,0,0,0.000000,0.000000,0,V,1.830000,113.000000,41112,0,0.000000,0,0.000000,0,0,0.000000,0",
+"55.672054,12.521564,0.000000,1231.293823,5540.323242,134733.000000,N,E,0,0,0.000000,0.000000,0,V,1.830000,113.000000,41112,0,0.000000,0,0.000000,0,0,0.000000,0",
 "-55.672054,-12.521567,0.000000,1231.294067,5540.323242,134734.000000,S,W,1,10,0.800000,23.700001,M,0,0.000000,0.000000,0,0,0.000000,0,0.000000,0,0,0.000000,0",
 "55.672054,12.521567,0.000000,1231.294067,5540.323242,134734.000000,N,E,0,0,0.000000,0.000000,0,A,1.230000,107.220001,41112,0,0.000000,0,0.000000,0,0,0.000000,0",
 "0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0,0,0,0,0.000000,0.000000,0,0,0.000000,0.000000,0,0,0.000000,0,0.000000,0,0,0.000000,0",
 "39.898003,-105.112549,0.000000,10506.752930,3953.880127,34138.000000,N,W,0,0,0.000000,0.000000,0,0,0.000000,0.000000,0,A,0.000000,0,0.000000,0,0,0.000000,0",
 "51.150440,-114.030678,0.000000,11401.840820,5109.026367,202725.000000,N,W,0,0,0.000000,0.000000,0,0,0.000000,0.000000,0,A,0.000000,0,0.000000,0,0,0.000000,0",
 "51.150440,-114.030678,0.000000,11401.840820,5109.026367,202725.000000,N,W,0,0,0.000000,0.000000,0,0,0.000000,0.000000,0,V,0.000000,0,0.000000,0,0,0.000000,0",
+"51.150440,-114.030678,0.000000,11401.840820,5109.026367,202725.000000,N,W,0,0,0.000000,0.000000,0,0,0.000000,0.000000,0,V,0.000000,0,0.000000,0,0,0.000000,0",
 "0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0,0,0,0,0.000000,0.000000,0,0,0.000000,0.000000,0,0,0.000000,0,0.000000,0,0,0.000000,0"
\ No newline at end of file
diff --git a/_test/driver/gps/test_gps.c b/_test/driver/gps/test_gps.c
index eb44c3e..c4f2c33 100644
--- a/_test/driver/gps/test_gps.c
+++ b/_test/driver/gps/test_gps.c
@@ -138,7 +138,7 @@ void test_GPS_parse
 /*------------------------------------------------------------------------------
 Initializations
 ------------------------------------------------------------------------------*/
-int num_cases = 17;
+int num_cases = 19;
 char buffer[200] = ""; // An NMEA message is 82 characters, but the way we parse may end up with more in order to represent the struct
 
 // Source: https://github.com/esutton/gps-nmea-log-files/blob/master/AMOD_AGL3080_20121104_134730.txt
diff --git a/gps/gps.c b/gps/gps.c
index cf09f35..90b31ac 100644
--- a/gps/gps.c
+++ b/gps/gps.c
@@ -58,6 +58,8 @@
 /*------------------------------------------------------------------------------
 Global Variables                                                                  
 ------------------------------------------------------------------------------*/
+GPS_DATA gps_last_valid_rmc_data;
+GPS_DATA gps_last_valid_gll_data;
 
 /*------------------------------------------------------------------------------
  Procedures 
@@ -329,6 +331,17 @@ else if (!strcmp(token, "$GPRMC"))
         gps_ptr->course_d = course_d;
         gps_ptr->date = date;
         gps_conv_latitude_longitude( gps_ptr );
+
+        /* Update last valid data */
+        gps_last_valid_rmc_data = *gps_ptr;
+        }
+    /* Discard new data, use last valid data instead if the status is V: Void */
+    else if (rmc_status == 'V')
+        {
+        *gps_ptr = gps_last_valid_rmc_data;
+
+        /* Re-save rmc_status since the previous statement may override it */
+        gps_ptr->rmc_status = rmc_status;
         }
     }
 else if (!strcmp(token, "$GPGLL")) 
@@ -353,8 +366,19 @@ else if (!strcmp(token, "$GPGLL"))
         gps_ptr->ew = ew;
         gps_ptr->utc_time = utc_time;
         gps_conv_latitude_longitude( gps_ptr );
+
+        gps_last_valid_gll_data = *gps_ptr;
+        }
+    else if (gll_status == 'V')
+        {
+            *gps_ptr = gps_last_valid_gll_data;
+
+            /* Resave gll status since the previous statement may override it */
+            gps_ptr->gll_status = gll_status;
         }
     }
+    
+
 else if (!strcmp(token, "$GPVTG")) 
     {
     gps_ptr->course_t = gps_string_to_float(GPSstrParse, &idx);