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Reinstate the ground course filter for the not-really-suppored SiRF GPS. 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@448 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
DrZiplok@gmail.com 2010-09-10 06:32:33 +00:00
parent a610577701
commit 80bc831363
2 changed files with 7 additions and 3 deletions
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4
libraries/AP_GPS/AP_GPS_SIRF.cpp
View File

@ -170,7 +170,9 @@ AP_GPS_SIRF::_parse_gps(void)
longitude = _swapl(&_buffer.nav.longitude); longitude = _swapl(&_buffer.nav.longitude);
altitude = _swapl(&_buffer.nav.altitude_msl); altitude = _swapl(&_buffer.nav.altitude_msl);
ground_speed = _swapi(&_buffer.nav.ground_speed); ground_speed = _swapi(&_buffer.nav.ground_speed);
ground_course = _swapi(&_buffer.nav.ground_course); // at low speeds, ground course wanders wildly; suppress changes if we are not moving
if (ground_speed > 50)
ground_course = _swapi(&_buffer.nav.ground_course);
num_sats = _buffer.nav.satellites; num_sats = _buffer.nav.satellites;
break; break;
} }

6
libraries/AP_GPS/examples/GPS_406_test/GPS_406_test.pde
View File

@ -18,8 +18,10 @@ AP_GPS_406 gps(&Serial1);
void setup() void setup()
{ {
Serial.begin(38400); tone(A6, 1000, 200);
Serial1.begin(57600);
Serial.begin(38400, 16, 128);
Serial1.begin(57600, 128, 16);
stderr = stdout; stderr = stdout;
gps.print_errors = true; gps.print_errors = true;