Better GPS read

orchestrateur/sensors/gps.py

@@ -36,23 +36,17 @@ class GROVEGPS:
     def read(self):
         """Reads the latest GGA sentence from serial, thread-safely."""
         with serial_lock:
-            # 1. Flush accumulated stale data in the UART buffer
+            for _ in range(10):  # Read pending lines from buffer
-            if self.ser.in_waiting > 0:
+                if self.ser.in_waiting == 0:
-                self.ser.reset_input_buffer()
+                    break
-
-            # 2. Try reading up to 15 lines to catch the freshest GGA sentence
-            for _ in range(5):
                 raw_bytes = self.ser.readline()
                 try:
                     line = raw_bytes.decode('utf-8', errors='ignore').strip()
-                    # log(f"GPS: Read line: {line}")
                 except Exception:
                     continue
 
-                # Supports both $GPGGA and modern $GNGGA sentences
                 if (line.startswith('$GPGGA') or line.startswith('$GNGGA')) and calculate_nmea_checksum(line):
-                    if self.parse_gga(line):
+                    return self.parse_gga(line)
-                        return True
         return False
 
     def parse_gga(self, line):