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Fixed issue with comma parsing (space after comma was causing routine to misread data) 

Added init functions (PMTK)

git-svn-id: https://arducopter.googlecode.com/svn/trunk@663 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
paulbmather@gmail.com 2010-10-16 16:55:56 +00:00
parent 778c68d5ef
commit d7e71b602c
1 changed files with 24 additions and 17 deletions
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41
libraries/AP_GPS/AP_GPS_NMEA.cpp
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@ -2,6 +2,7 @@
/*
GPS_NMEA.cpp - Generic NMEA GPS library for Arduino
Code by Jordi Muñoz and Jose Julio. DIYDrones.com
Edits by HappyKillmore
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
@ -50,6 +51,12 @@ void
AP_GPS_NMEA::init(void)
{
//Type = 2;
// initialize serial port for binary protocol use
_port->print(NMEA_OUTPUT_SENTENCES);
_port->print(NMEA_OUTPUT_4HZ);
_port->print(SBAS_ON);
_port->print(DGPS_SBAS);
_port->print(DATUM_GOOGLE);
}
// This code don´t wait for data, only proccess the data available on serial port
@ -79,7 +86,7 @@ AP_GPS_NMEA::update(void)
parse_nmea_gps();
} else {
if (bufferidx < (GPS_BUFFERSIZE - 1)){
if (c == ' * ')
if (c == '*')
GPS_checksum_calc = false; // Checksum calculation end
buffer[bufferidx++] = c;
if (GPS_checksum_calc){
@ -112,33 +119,33 @@ AP_GPS_NMEA::parse_nmea_gps(void)
if (GPS_checksum == NMEA_check){ // Checksum validation
//Serial.println("buffer");
new_data = 1; // New GPS Data
parseptr = strchr(buffer, ', ')+1;
parseptr = strchr(buffer, ',')+1;
//parseptr = strchr(parseptr, ',')+1;
time = parsenumber(parseptr, 2); // GPS UTC time hhmmss.ss
parseptr = strchr(parseptr, ', ')+1;
parseptr = strchr(parseptr, ',')+1;
//
aux_deg = parsedecimal(parseptr, 2); // degrees
aux_min = parsenumber(parseptr + 2, 4); // minutes (sexagesimal) => Convert to decimal
latitude = aux_deg * 10000000 + (aux_min * 50) / 3; // degrees + minutes / 0.6 ( * 10000000) (0.6 = 3 / 5)
parseptr = strchr(parseptr, ', ')+1;
parseptr = strchr(parseptr, ',')+1;
if ( * parseptr == 'S')
latitude = -1 * latitude; // South latitudes are negative
parseptr = strchr(parseptr, ', ')+1;
parseptr = strchr(parseptr, ',')+1;
// W longitudes are Negative
aux_deg = parsedecimal(parseptr, 3); // degrees
aux_min = parsenumber(parseptr + 3, 4); // minutes (sexagesimal)
longitude = aux_deg * 10000000 + (aux_min * 50) / 3; // degrees + minutes / 0.6 ( * 10000000)
//longitude = -1*longitude; // This Assumes that we are in W longitudes...
parseptr = strchr(parseptr, ', ')+1;
parseptr = strchr(parseptr, ',')+1;
if ( * parseptr == 'W')
longitude = -1 * longitude; // West longitudes are negative
parseptr = strchr(parseptr, ', ')+1;
parseptr = strchr(parseptr, ',')+1;
fix = parsedecimal(parseptr, 1);
parseptr = strchr(parseptr, ', ')+1;
parseptr = strchr(parseptr, ',')+1;
num_sats = parsedecimal(parseptr, 2);
parseptr = strchr(parseptr, ', ')+1;
parseptr = strchr(parseptr, ',')+1;
HDOP = parsenumber(parseptr, 1); // HDOP * 10
parseptr = strchr(parseptr, ', ')+1;
parseptr = strchr(parseptr, ',')+1;
altitude = parsenumber(parseptr, 1) * 100; // altitude in decimeters * 100 = milimeters
if (fix < 1)
quality = 0; // No FIX
@ -159,14 +166,14 @@ AP_GPS_NMEA::parse_nmea_gps(void)
if (buffer[bufferidx-4]=='*'){ // Check for the "*" character
NMEA_check = parseHex(buffer[bufferidx - 3]) * 16 + parseHex(buffer[bufferidx - 2]); // Read the checksums characters
if (GPS_checksum == NMEA_check){ // Checksum validation
parseptr = strchr(buffer, ', ')+1;
parseptr = strchr(buffer, ',')+1;
ground_course = parsenumber(parseptr, 2); // Ground course in degrees * 100
parseptr = strchr(parseptr, ', ')+1;
parseptr = strchr(parseptr, ', ')+1;
parseptr = strchr(parseptr, ', ')+1;
parseptr = strchr(parseptr, ', ')+1;
parseptr = strchr(parseptr, ', ')+1;
parseptr = strchr(parseptr, ', ')+1;
parseptr = strchr(parseptr, ',')+1;
parseptr = strchr(parseptr, ',')+1;
parseptr = strchr(parseptr, ',')+1;
parseptr = strchr(parseptr, ',')+1;
parseptr = strchr(parseptr, ',')+1;
parseptr = strchr(parseptr, ',')+1;
ground_speed = parsenumber(parseptr, 2) * 10 / 36; // Convert Km / h to m / s ( * 100)
//GPS_line = true;
} else {