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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
Code by Jordi Muñoz and Jose Julio. DIYDrones.com
GPS_406.cpp - 406 GPS library for Arduino
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 library is free software; you can redistribute it and / or
@ -8,27 +8,21 @@
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
GPS configuration : Ublox protocol
Baud rate : 38400
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
GPS configuration : 406 protocol
Baud rate : 57600
Methods:
init() : GPS initialization
update() : 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)
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)
*/
@ -36,7 +30,7 @@
#include "AP_GPS_406.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

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