updates - Ublox now working

git-svn-id: https://arducopter.googlecode.com/svn/trunk@313 f9c3cf11-9bcb-44bc-f272-b75c42450872

libraries/AP_GPS/AP_GPS_MTK.cpp

@@ -26,8 +26,8 @@
 		fix : 1: GPS NO fix, 2: 2D fix, 3: 3D fix.
 			
 */
-#include "AP_GPS_MTK.h"
 
+#include "AP_GPS_MTK.h"
 
 // Constructors ////////////////////////////////////////////////////////////////
 AP_GPS_MTK::AP_GPS_MTK()
@@ -38,12 +38,13 @@ AP_GPS_MTK::AP_GPS_MTK()
 // Public Methods //////////////////////////////////////////////////////////////
 void AP_GPS_MTK::init(void)
 {
-	new_data = 0;
 	ck_a 		= 0;
 	ck_b 		= 0;
 	step 		= 0;
+	new_data 	= 0;
 	fix 		= 0;
 	print_errors = 0;
+	
 	// initialize serial port
 	#if defined(__AVR_ATmega1280__)
 		Serial1.begin(38400);				 // Serial port 1 on ATMega1280
@@ -75,15 +76,15 @@ void AP_GPS_MTK::update(void)
 		
 		switch(step){
 			case 0:
-				if(data==0xB5)	// UBX sync char 1
+				if(data == 0xB5)
-					step++;	 	//OH first data packet is correct, so jump to the next step
+					step++;
 				break;
 				
 			case 1:	
-				if(data==0x62)	// UBX sync char 2
+				if(data == 0x62)
-					step++;	 	//ooh! The second data packet is correct, jump to the step 2
+					step++;
 				else 
-					step=0;	 	//Nop, is not correct so restart to step zero and try again.		 
+					step = 0;
 				break;
 				
 			case 2:

libraries/AP_GPS/AP_GPS_UBLOX.cpp

@@ -25,8 +25,8 @@
 		Lattitude : Lattitude * 10000000 (long value)
 		Longitude : Longitude * 10000000 (long value)
 		altitude :	altitude * 100 (meters) (long value)
-		Ground_speed : Speed (m / s) * 100 (long value)
+		ground_speed : Speed (m/s) * 100 (long value)
-		Ground_course : Course (degrees) * 100 (long value)
+		ground_course : Course (degrees) * 100 (long value)
 		new_data : 1 when a new data is received.
 							You need to write a 0 to new_data when you read the data
 		fix : 1: GPS FIX, 0: No fix (normal logic)
@@ -38,11 +38,10 @@
 // Constructors ////////////////////////////////////////////////////////////////
 AP_GPS_UBLOX::AP_GPS_UBLOX()
 {
-	print_errors = 1;
 }
 
 
-// Public Methods // /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// /// ///
+// Public Methods ////////////////////////////////////////////////////////////////////
 void AP_GPS_UBLOX::init(void)
 {
 	ck_a 		= 0;
@@ -52,7 +51,6 @@ void AP_GPS_UBLOX::init(void)
 	fix 		= 0;
 	print_errors = 0;
 	
-
 	// initialize serial port
 	#if defined(__AVR_ATmega1280__)
 		Serial1.begin(38400);				 // Serial port 1 on ATMega1280
@@ -74,30 +72,26 @@ void AP_GPS_UBLOX::update(void)
 	#else
 		numc = Serial.available();
 	#endif
-	Serial.print("numc ");
-	Serial.println(numc,DEC);
 	
 	if (numc > 0){
-		Serial.println(" ");
 		for (int i = 0;i < numc;i++){	// Process bytes received
 		#if defined(__AVR_ATmega1280__)
 			data = Serial1.read();
 		#else
 			data = Serial.read();
 		#endif
-		Serial.print(data,HEX);
+		
-		Serial.println(",");
+		switch(step){
-		switch(step){		 // Normally we start from zero. This is a state machine
 			case 0:
-				if(data == 0xB5)	// UBX sync char 1
+				if(data == 0xB5)
-					step++;	 // OH first data packet is correct, so jump to the next step
+					step++;
 				break;
 				
 			case 1:	
-				if(data == 0x62)	// UBX sync char 2
+				if(data == 0x62)
-					step++;	 // ooh! The second data packet is correct, jump to the step 2
+					step++;
 				else 
-					step = 0;	 // Nop, is not correct so restart to step zero and try again.		 
+					step = 0;
 				break;
 				
 			case 2:
@@ -166,26 +160,25 @@ void AP_GPS_UBLOX::update(void)
 }
 
 // Private Methods //////////////////////////////////////////////////////////////
-void AP_GPS_UBLOX::parse_gps(void)
+void
+AP_GPS_UBLOX::parse_gps(void)
 {
 	int j;
 //Verifing if we are in msg_class 1, you can change this "IF" for a "Switch" in case you want to use other UBX classes.. 
 // In this case all the message im using are in msg_class 1, to know more about classes check PAGE 60 of DataSheet.
-	if(msg_class == 0x01) 
+	if(msg_class == 0x01){
-	{
+		switch(id) {//Checking the UBX ID
-		switch(id) //Checking the UBX ID
-		{
 		case 0x02: // ID NAV - POSLLH 
 			j = 0;
 			time = join_4_bytes(&buffer[j]); // ms Time of week
 			j += 4;
-			longitude = join_4_bytes(&buffer[j]); // lon * 10000000
+			longitude = join_4_bytes(&buffer[j]); // lon * 10,000,000
 			j += 4;
-			lattitude = join_4_bytes(&buffer[j]); // lat * 10000000
+			lattitude = join_4_bytes(&buffer[j]); // lat * 10,000,000
 			j += 4;
 			//altitude = join_4_bytes(&buffer[j]);	// elipsoid heigth mm
 			j += 4;
-			altitude = (float)join_4_bytes(&buffer[j]);	// MSL heigth mm
+			altitude = (float)join_4_bytes(&buffer[j]) / 10;	// MSL heigth mm
 			//j+=4;
 			/*
 			hacc = (float)join_4_bytes(&buffer[j]) / (float)1000;

libraries/AP_GPS/examples/GPS_MTK_test/GPS_MTK_test.pde

@@ -10,6 +10,7 @@
 
 AP_GPS_MTK gps;
 #define T6 1000000
+#define T7 10000000
 
 void setup()
 {

libraries/AP_GPS/examples/GPS_NMEA_test/GPS_NMEA_test.pde

@@ -10,7 +10,7 @@
 
 AP_GPS_NMEA gps;
 #define T6 1000000
-#define T7 1000000
+#define T7 10000000
 
 void setup()
 {

libraries/AP_GPS/examples/GPS_UBLOX_test/GPS_UBLOX_test.pde

@@ -10,7 +10,7 @@
 
 AP_GPS_UBLOX gps;
 #define T6 1000000
-#define T7 1000000
+#define T7 10000000
 
 void setup()
 {