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ArduCopter: Another attempt at fixing the lat/lon printing bug in which small negative lattitudes or longitudes were appearing as positives. 

Fixed in both ArduCopter Log.pde and the GPS Auto test sketch
This commit is contained in:
rmackay9 2012-06-03 16:58:19 +09:00
parent b1e5a25ed9
commit dcdeae412e
2 changed files with 18 additions and 12 deletions
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15
ArduCopter/Log.pde
View File

@ -225,16 +225,19 @@ process_logs(uint8_t argc, const Menu::arg *argv)
void print_latlon(BetterStream *s, int32_t lat_or_lon)
{
int32_t dec_portion, frac_portion;
int32_t abs_lat_or_lon = labs(lat_or_lon);
// extract decimal portion (special handling of negative numbers to ensure we round towards zero)
dec_portion = labs(lat_or_lon) / T7;
if( lat_or_lon < 0 ){
dec_portion = -dec_portion;
}
dec_portion = abs_lat_or_lon / T7;
// extract fractional portion
frac_portion = labs(lat_or_lon - dec_portion*T7);
s->printf("%ld.%07ld",(long)dec_portion,(long)frac_portion);
frac_portion = abs_lat_or_lon - dec_portion*T7;
// print output including the minus sign
if( lat_or_lon < 0 ) {
s->printf_P(PSTR("-"));
}
s->printf_P(PSTR("%ld.%07ld"),(long)dec_portion,(long)frac_portion);
}
// Write an GPS packet. Total length : 31 bytes

15
libraries/AP_GPS/examples/GPS_AUTO_test/GPS_AUTO_test.pde
View File

@ -22,16 +22,19 @@ AP_GPS_Auto GPS(&Serial1, &gps);
void print_latlon(BetterStream *s, int32_t lat_or_lon)
{
int32_t dec_portion, frac_portion;
int32_t abs_lat_or_lon = labs(lat_or_lon);
// extract decimal portion (special handling of negative numbers to ensure we round towards zero)
dec_portion = labs(lat_or_lon) / T7;
if( lat_or_lon < 0 ){
dec_portion = -dec_portion;
}
dec_portion = abs_lat_or_lon / T7;
// extract fractional portion
frac_portion = labs(lat_or_lon - dec_portion*T7);
s->printf("%ld.%07ld",(long)dec_portion,(long)frac_portion);
frac_portion = abs_lat_or_lon - dec_portion*T7;
// print output including the minus sign
if( lat_or_lon < 0 ) {
s->printf_P(PSTR("-"));
}
s->printf_P(PSTR("%ld.%07ld"),(long)dec_portion,(long)frac_portion);
}
void setup()