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Seems to be an error in the MTK scaling of Lat and Long!! 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@315 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2010-08-26 02:18:13 +00:00
parent 241b710001
commit 673c547d91
1 changed files with 5 additions and 5 deletions
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10
libraries/GPS_MTK/GPS_MTK.cpp
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@ -16,8 +16,8 @@
Read() : Call this funcion as often as you want to ensure you read the incomming gps data
Properties:
Lattitude : Lattitude * 10000000 (long value)
Longitude : Longitude * 10000000 (long value)
Lattitude : Lattitude * 10,000,000 (long value)
Longitude : Longitude * 10,000,000 (long value)
Altitude : Altitude * 100 (meters) (long value)
Ground_speed : Speed (m/s) * 100 (long value)
Ground_course : Course (degrees) * 100 (long value)
@ -164,15 +164,15 @@ void GPS_MTK_Class::parse_ubx_gps(void)
case 0x05: //ID Custom
j=0;
Lattitude= join_4_bytes(&UBX_buffer[j]); // lon*10000000
Lattitude= join_4_bytes(&UBX_buffer[j]) * 10; // lon*10,000,000
j+=4;
Longitude = join_4_bytes(&UBX_buffer[j]); // lat*10000000
Longitude = join_4_bytes(&UBX_buffer[j]) * 10; // lat*10000000
j+=4;
Altitude = join_4_bytes(&UBX_buffer[j]); // MSL
j+=4;
Ground_Speed = join_4_bytes(&UBX_buffer[j]);
j+=4;
Ground_Course = join_4_bytes(&UBX_buffer[j]);
Ground_Course = join_4_bytes(&UBX_buffer[j]) / 10000; // Heading 2D
j+=4;
NumSats=UBX_buffer[j];
j++;