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New GPS Lib

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@342 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2010-08-29 22:08:33 +00:00
parent 4625fb64b6
commit 4f02edac51
8 changed files with 22 additions and 18 deletions
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1
libraries/AP_GPS/AP_GPS_IMU.cpp
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@ -27,6 +27,7 @@
*/
#include "AP_GPS_IMU.h"
#include "WProgram.h"
// Constructors ////////////////////////////////////////////////////////////////

4
libraries/AP_GPS/AP_GPS_IMU.h
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@ -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

13
libraries/AP_GPS/AP_GPS_MTK.cpp
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@ -1,6 +1,6 @@
/*
AP_GPS_MTK.cpp - Ublox GPS library for Arduino
Code by Jordi MuÒoz 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++;

4
libraries/AP_GPS/AP_GPS_MTK.h
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@ -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

1
libraries/AP_GPS/AP_GPS_NMEA.cpp
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@ -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()

6
libraries/AP_GPS/AP_GPS_NMEA.h
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@ -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

3
libraries/AP_GPS/AP_GPS_UBLOX.cpp
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@ -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()

8
libraries/AP_GPS/AP_GPS_UBLOX.h
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@ -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