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correct configuration bug and change values of Fix to be consistent with ublox and APM

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@377 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
deweibel 2010-09-02 23:29:32 +00:00
parent d6fc9650a4
commit 40a9335e1a
1 changed files with 7 additions and 2 deletions
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9
libraries/GPS_MTK/GPS_MTK.cpp
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@ -23,7 +23,7 @@
Ground_course : Course (degrees) * 100 (long value) Ground_course : Course (degrees) * 100 (long value)
NewData : 1 when a new data is received. NewData : 1 when a new data is received.
You need to write a 0 to NewData when you read the data You need to write a 0 to NewData when you read the data
Fix : 1: GPS NO FIX, 2: 2D FIX, 3: 3D FIX. Fix : 0: GPS NO FIX or 2D FIX, 1: 3D FIX.
*/ */
@ -42,7 +42,6 @@ GPS_MTK_Class::GPS_MTK_Class()
void GPS_MTK_Class::Init(void) void GPS_MTK_Class::Init(void)
{ {
delay(200); delay(200);
Serial.print("$PGCMD,16,0,0,0,0,0*6A\r\n");
ck_a=0; ck_a=0;
ck_b=0; ck_b=0;
UBX_step=0; UBX_step=0;
@ -56,6 +55,8 @@ void GPS_MTK_Class::Init(void)
#else #else
Serial.begin(38400); Serial.begin(38400);
#endif #endif
Serial1.print("$PGCMD,16,0,0,0,0,0*6A\r\n");
//Serial.println("sent config string");
} }
// optimization : This code don´t wait for data, only proccess the data available // optimization : This code don´t wait for data, only proccess the data available
@ -179,6 +180,10 @@ void GPS_MTK_Class::parse_ubx_gps(void)
NumSats=UBX_buffer[j]; NumSats=UBX_buffer[j];
j++; j++;
Fix=UBX_buffer[j]; Fix=UBX_buffer[j];
if (Fix==3)
Fix = 1;
else
Fix = 0;
j++; j++;
Time = join_4_bytes(&UBX_buffer[j]); Time = join_4_bytes(&UBX_buffer[j]);
NewData=1; NewData=1;