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Update the NMEA example code in conjunction with the new parser.

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Added an init string for SiRF receivers that will bring them back out of the binary mode configuration that AP_GPS_Auto sets them to.  

Picked up the GPS logging format from the AP_GPS_Auto test.



git-svn-id: https://arducopter.googlecode.com/svn/trunk@1469 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
DrZiplok@gmail.com 2011-01-10 01:57:16 +00:00
parent e27af48391
commit 7cb9579edf
1 changed files with 47 additions and 33 deletions
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80
libraries/AP_GPS/examples/GPS_NMEA_test/GPS_NMEA_test.pde
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@ -1,57 +1,71 @@
/*
Example of GPS NMEA library.
Code by Jordi Munoz and Jose Julio. DIYDrones.com
Works with Ardupilot Mega Hardware (GPS on Serial Port1)
*/
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
//
// Test for AP_GPS_NMEA
//
#include <FastSerial.h>
#include <AP_Common.h>
#include <AP_GPS_NMEA.h>
#include <stdio.h>
FastSerialPort0(Serial);
FastSerialPort1(Serial1);
AP_GPS_NMEA gps(&Serial1);
AP_GPS_NMEA NMEA_gps(&Serial1);
GPS *gps = &NMEA_gps;
#define T6 1000000
#define T7 10000000
const uint8_t sirf_to_nmea[] = { 0xa0, 0xa2, // preamble
0x00, 0x18, // message length
0x81, 0x02, // switch to NMEA
0x01, 0x01, // GGA on with checksum
0x00, 0x01, // GLL off
0x00, 0x01, // GSA off
0x00, 0x01, // GSV off
0x01, 0x01, // RMC on with checksum
0x01, 0x01, // VTG on with checksum
0x00, 0x01, // MSS off
0x00, 0x01, // EPE off
0x00, 0x01, // ZPA off
0x00, 0x00, // pad
0x96, 0x00, // 38400
0x01, 0x25, // checksum TBD
0xb0, 0xb3 }; // postamble
void setup()
{
Serial.begin(38400);
Serial1.begin(38400);
stderr = stdout;
gps.print_errors = true;
// try to coerce a SiRF unit that's been traumatized by
// AP_GPS_AUTO back into NMEA mode so that we can test
// it.
for (uint8_t i = 0; i < sizeof(sirf_to_nmea); i++)
Serial1.write(sirf_to_nmea[i]);
Serial.println("GPS NMEA library test");
gps.init(); // GPS Initialization
delay(1000);
gps->init();
}
void loop()
{
delay(20);
gps.update();
if (gps.new_data){
Serial.print("gps:");
Serial.print(" Lat:");
Serial.print((float)gps.latitude / T7, DEC);
Serial.print(" Lon:");
Serial.print((float)gps.longitude / T7, DEC);
Serial.print(" Alt:");
Serial.print((float)gps.altitude / 100.0, DEC);
Serial.print(" GSP:");
Serial.print(gps.ground_speed / 100.0);
Serial.print(" COG:");
Serial.print(gps.ground_course / 100, DEC);
Serial.print(" SAT:");
Serial.print(gps.num_sats, DEC);
Serial.print(" FIX:");
Serial.print(gps.fix, DEC);
Serial.print(" TIM:");
Serial.print(gps.time, DEC);
Serial.println();
gps.new_data = 0; // We have read the data
gps->update();
if (gps->new_data){
if (gps->fix) {
Serial.printf("\nLat: %.7f Lon: %.7f Alt: %.2fm GSP: %.2fm/s CoG: %d SAT: %d TIM: %lu",
(float)gps->latitude / T7,
(float)gps->longitude / T7,
(float)gps->altitude / 100.0,
(float)gps->ground_speed / 100.0,
(int)gps->ground_course / 100,
gps->num_sats,
gps->time);
} else {
Serial.println("No fix");
}
gps->new_data = false;
}
}