From 4f02edac51b13c2c2682315d8bafe00513ae8a6c Mon Sep 17 00:00:00 2001
From: jasonshort <jasonshort@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Sun, 29 Aug 2010 22:08:33 +0000
Subject: [PATCH] New GPS Lib

git-svn-id: https://arducopter.googlecode.com/svn/trunk@342 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 libraries/AP_GPS/AP_GPS_IMU.cpp   |  1 +
 libraries/AP_GPS/AP_GPS_IMU.h     |  4 ++--
 libraries/AP_GPS/AP_GPS_MTK.cpp   | 13 ++++++++-----
 libraries/AP_GPS/AP_GPS_MTK.h     |  4 ++--
 libraries/AP_GPS/AP_GPS_NMEA.cpp  |  1 +
 libraries/AP_GPS/AP_GPS_NMEA.h    |  6 ++----
 libraries/AP_GPS/AP_GPS_UBLOX.cpp |  3 ++-
 libraries/AP_GPS/AP_GPS_UBLOX.h   |  8 ++++----
 8 files changed, 22 insertions(+), 18 deletions(-)

diff --git a/libraries/AP_GPS/AP_GPS_IMU.cpp b/libraries/AP_GPS/AP_GPS_IMU.cpp
index 8b20c4a7f6..dcfe13380c 100755
--- a/libraries/AP_GPS/AP_GPS_IMU.cpp
+++ b/libraries/AP_GPS/AP_GPS_IMU.cpp
@@ -27,6 +27,7 @@
 			
 */
 #include "AP_GPS_IMU.h"
+#include "WProgram.h"
 
 
 // Constructors ////////////////////////////////////////////////////////////////
diff --git a/libraries/AP_GPS/AP_GPS_IMU.h b/libraries/AP_GPS/AP_GPS_IMU.h
index 3c2269a456..19bc4d4ba2 100755
--- a/libraries/AP_GPS/AP_GPS_IMU.h
+++ b/libraries/AP_GPS/AP_GPS_IMU.h
@@ -1,10 +1,10 @@
 #ifndef AP_GPS_IMU_h
 #define AP_GPS_IMU_h
 
-#include "AP_GPS.h"
+#include <GPS.h>
 #define MAXPAYLOAD 32
 
-class AP_GPS_IMU : public AP_GPS
+class AP_GPS_IMU : public GPS
 {
   public:
     // Methods
diff --git a/libraries/AP_GPS/AP_GPS_MTK.cpp b/libraries/AP_GPS/AP_GPS_MTK.cpp
index e48f8a518e..5feac81c11 100644
--- a/libraries/AP_GPS/AP_GPS_MTK.cpp
+++ b/libraries/AP_GPS/AP_GPS_MTK.cpp
@@ -1,6 +1,6 @@
 /*
-	AP_GPS_MTK.cpp - Ublox GPS library for Arduino
-	Code by Jordi MuÃ’oz and Jose Julio. DIYDrones.com
+	GPS_MTK.cpp - Ublox GPS library for Arduino
+	Code by Jordi Munoz and Jose Julio. DIYDrones.com
 	This code works with boards based on ATMega168 / 328 and ATMega1280 (Serial port 1)
 
 	This library is free software; you can redistribute it and / or
@@ -28,6 +28,7 @@
 */
 
 #include "AP_GPS_MTK.h"
+#include "WProgram.h"
 
 // Constructors ////////////////////////////////////////////////////////////////
 AP_GPS_MTK::AP_GPS_MTK()
@@ -38,6 +39,8 @@ AP_GPS_MTK::AP_GPS_MTK()
 // Public Methods //////////////////////////////////////////////////////////////
 void AP_GPS_MTK::init(void)
 {
+	Serial.print("$PGCMD,16,0,0,0,0,0*6A\r\n");
+	
 	ck_a 		= 0;
 	ck_b 		= 0;
 	step 		= 0;
@@ -146,15 +149,15 @@ AP_GPS_MTK::parse_gps(void)
 			//Checking the UBX ID
 			case 0x05: // ID Custom
 				j = 0;
-				lattitude= join_4_bytes(&buffer[j]); // lon * 10000000
+				lattitude= join_4_bytes(&buffer[j]) * 10; // lon * 10000000
 				j += 4;
-				longitude = join_4_bytes(&buffer[j]); // lat * 10000000
+				longitude = join_4_bytes(&buffer[j]) * 10; // lat * 10000000
 				j += 4;
 				altitude = join_4_bytes(&buffer[j]);	// MSL
 				j += 4;
 				speed_3d = ground_speed = join_4_bytes(&buffer[j]);
 				j += 4;
-				ground_course = join_4_bytes(&buffer[j]);
+				ground_course = join_4_bytes(&buffer[j]) / 10000;
 				j += 4;
 				num_sats = buffer[j];
 				j++;
diff --git a/libraries/AP_GPS/AP_GPS_MTK.h b/libraries/AP_GPS/AP_GPS_MTK.h
index 1135a1421b..4b8c5f1a4b 100644
--- a/libraries/AP_GPS/AP_GPS_MTK.h
+++ b/libraries/AP_GPS/AP_GPS_MTK.h
@@ -1,10 +1,10 @@
 #ifndef AP_GPS_MTK_h
 #define AP_GPS_MTK_h
 
-#include <AP_GPS.h>
+#include <GPS.h>
 #define MAXPAYLOAD 32
 
-class AP_GPS_MTK : public AP_GPS
+class AP_GPS_MTK : public GPS
 {
   public:
     // Methods
diff --git a/libraries/AP_GPS/AP_GPS_NMEA.cpp b/libraries/AP_GPS/AP_GPS_NMEA.cpp
index 0d706c46ad..1d9be6f34f 100644
--- a/libraries/AP_GPS/AP_GPS_NMEA.cpp
+++ b/libraries/AP_GPS/AP_GPS_NMEA.cpp
@@ -37,6 +37,7 @@
 	 NOTE : This code has been tested on a Locosys 20031 GPS receiver (MTK chipset)
 */
 #include "AP_GPS_NMEA.h"
+#include "WProgram.h"
 
 // Constructors ////////////////////////////////////////////////////////////////
 AP_GPS_NMEA::AP_GPS_NMEA()
diff --git a/libraries/AP_GPS/AP_GPS_NMEA.h b/libraries/AP_GPS/AP_GPS_NMEA.h
index 75d3b88ea3..492e479131 100644
--- a/libraries/AP_GPS/AP_GPS_NMEA.h
+++ b/libraries/AP_GPS/AP_GPS_NMEA.h
@@ -1,10 +1,10 @@
 #ifndef AP_GPS_NMEA_h
 #define AP_GPS_NMEA_h
 
-#include "AP_GPS.h"
+#include <GPS.h>
 #define GPS_BUFFERSIZE 120 
 
-class AP_GPS_NMEA : public AP_GPS
+class AP_GPS_NMEA : public GPS
 {
   public:
     // Methods
@@ -30,6 +30,4 @@ class AP_GPS_NMEA : public AP_GPS
 
 };
 
-extern AP_GPS_NMEA GPS;
-
 #endif
\ No newline at end of file
diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.cpp b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
index 90cf202cfe..1665db6699 100644
--- a/libraries/AP_GPS/AP_GPS_UBLOX.cpp
+++ b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
@@ -1,5 +1,5 @@
 /*
-	AP_GPS_UBLOX.cpp - Ublox GPS library for Arduino
+	GPS_UBLOX.cpp - Ublox GPS library for Arduino
 	Code by Jordi Muñoz and Jose Julio. DIYDrones.com
 	This code works with boards based on ATMega168/328 and ATMega1280 (Serial port 1)
 
@@ -34,6 +34,7 @@
 */
 
 #include "AP_GPS_UBLOX.h"
+#include "WProgram.h"
 
 // Constructors ////////////////////////////////////////////////////////////////
 AP_GPS_UBLOX::AP_GPS_UBLOX()
diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.h b/libraries/AP_GPS/AP_GPS_UBLOX.h
index c74364b0e4..90e6c8ee48 100644
--- a/libraries/AP_GPS/AP_GPS_UBLOX.h
+++ b/libraries/AP_GPS/AP_GPS_UBLOX.h
@@ -1,10 +1,10 @@
-#ifndef GPS_UBLOX_h
-#define GPS_UBLOX_h
+#ifndef AP_GPS_UBLOX_h
+#define AP_GPS_UBLOX_h
 
-#include <AP_GPS.h>
+#include <GPS.h>
 #define MAXPAYLOAD 60
 
-class AP_GPS_UBLOX : public AP_GPS
+class AP_GPS_UBLOX : public GPS
 {
   public:
     // Methods