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git-svn-id: https://arducopter.googlecode.com/svn/trunk@379 f9c3cf11-9bcb-44bc-f272-b75c42450872

This commit is contained in:
jasonshort 2010-09-03 04:13:28 +00:00
parent fe0ba2bb29
commit a18d0af3d1
2 changed files with 10 additions and 16 deletions
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22
libraries/AP_GPS/AP_GPS_406.cpp
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@ -1,6 +1,6 @@
/* /*
GPS_UBLOX.cpp - Ublox GPS library for Arduino GPS_406.cpp - 406 GPS library for Arduino
Code by Jordi Muñoz and Jose Julio. DIYDrones.com Code by Jason Short, Jordi Muñoz and Jose Julio. DIYDrones.com
This code works with boards based on ATMega168/328 and ATMega1280 (Serial port 1) 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 This library is free software; you can redistribute it and / or
@ -8,27 +8,21 @@
License as published by the Free Software Foundation; either License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version. version 2.1 of the License, or (at your option) any later version.
GPS configuration : Ublox protocol GPS configuration : 406 protocol
Baud rate : 38400 Baud rate : 57600
Active messages :
NAV - POSLLH Geodetic Position Solution, PAGE 66 of datasheet
NAV - VELNED Velocity Solution in NED, PAGE 71 of datasheet
NAV - STATUS Receiver Navigation Status
or
NAV - SOL Navigation Solution Information
Methods: Methods:
init() : GPS initialization init() : GPS initialization
update() : Call this funcion as often as you want to ensure you read the incomming gps data update() : Call this funcion as often as you want to ensure you read the incomming gps data
Properties: Properties:
Lattitude : Lattitude * 10000000 (long value) Lattitude : Lattitude * 10,000,000 (long value)
Longitude : Longitude * 10000000 (long value) Longitude : Longitude * 10,000,000 (long value)
altitude : altitude * 100 (meters) (long value) altitude : altitude * 100 (meters) (long value)
ground_speed : Speed (m/s) * 100 (long value) ground_speed : Speed (m/s) * 100 (long value)
ground_course : Course (degrees) * 100 (long value) ground_course : Course (degrees) * 100 (long value)
new_data : 1 when a new data is received. new_data : 1 when a new data is received.
You need to write a 0 to new_data when you read the data You need to write a 0 to new_data when you read the data
fix : 1: GPS FIX, 0: No fix (normal logic) fix : 1: GPS FIX, 0: No fix (normal logic)
*/ */
@ -36,7 +30,7 @@
#include "AP_GPS_406.h" #include "AP_GPS_406.h"
#include "WProgram.h" #include "WProgram.h"
AP_GPS_406::buffer[MAXPAYLOAD] = {0x24,0x50,0x53,0x52,0x46,0x31,0x30,0x30,0x2C,0x30,0x2C,0x35,0x37,0x36,0x30,0x30,0x2C,0x38,0x2C,0x31,0x2C,0x30,0x2A,0x33,0x37,0x0D,0x0A}; uint8_t AP_GPS_406::buffer[MAXPAYLOAD] = {0x24,0x50,0x53,0x52,0x46,0x31,0x30,0x30,0x2C,0x30,0x2C,0x35,0x37,0x36,0x30,0x30,0x2C,0x38,0x2C,0x31,0x2C,0x30,0x2A,0x33,0x37,0x0D,0x0A};
#define PAYLOAD_LENGTH 92 #define PAYLOAD_LENGTH 92

4
libraries/AP_GPS/AP_GPS_406.h
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@ -1,5 +1,5 @@
#ifndef AP_GPS_UBLOX_h #ifndef AP_GPS_406_h
#define AP_GPS_UBLOX_h #define AP_GPS_406_h
#include <GPS.h> #include <GPS.h>
#define MAXPAYLOAD 100 #define MAXPAYLOAD 100