From eb39264834c71ea7f3ac4a365daecb3e7db05773 Mon Sep 17 00:00:00 2001
From: "DrZiplok@gmail.com"
 <DrZiplok@gmail.com@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Mon, 10 Jan 2011 01:57:16 +0000
Subject: [PATCH] Update the NMEA example code in conjunction with the new
 parser.

Added an init string for SiRF receivers that will bring them back out of the binary mode configuration that AP_GPS_Auto sets them to.

Picked up the GPS logging format from the AP_GPS_Auto test.



git-svn-id: https://arducopter.googlecode.com/svn/trunk@1469 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 .../examples/GPS_NMEA_test/GPS_NMEA_test.pde  | 80 +++++++++++--------
 1 file changed, 47 insertions(+), 33 deletions(-)

diff --git a/libraries/AP_GPS/examples/GPS_NMEA_test/GPS_NMEA_test.pde b/libraries/AP_GPS/examples/GPS_NMEA_test/GPS_NMEA_test.pde
index fd071541a4..dd6fe2e323 100644
--- a/libraries/AP_GPS/examples/GPS_NMEA_test/GPS_NMEA_test.pde
+++ b/libraries/AP_GPS/examples/GPS_NMEA_test/GPS_NMEA_test.pde
@@ -1,57 +1,71 @@
-/*
-	Example of GPS NMEA library.
-	Code by Jordi Munoz and Jose Julio. DIYDrones.com
-
-	Works with Ardupilot Mega Hardware (GPS on Serial Port1)
-*/
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
+//
+// Test for AP_GPS_NMEA
+//
 
 #include <FastSerial.h>
+#include <AP_Common.h>
 #include <AP_GPS_NMEA.h>
 #include <stdio.h>
 
 FastSerialPort0(Serial);
 FastSerialPort1(Serial1);
 
-AP_GPS_NMEA gps(&Serial1);
+AP_GPS_NMEA NMEA_gps(&Serial1);
+GPS			*gps = &NMEA_gps;
+
 #define T6 1000000
 #define T7 10000000
 
+const uint8_t sirf_to_nmea[] = { 0xa0, 0xa2, // preamble
+								 0x00, 0x18, // message length
+								 0x81, 0x02, // switch to NMEA
+								 0x01, 0x01, // GGA on with checksum
+								 0x00, 0x01, // GLL off
+								 0x00, 0x01, // GSA off
+								 0x00, 0x01, // GSV off
+								 0x01, 0x01, // RMC on with checksum
+								 0x01, 0x01, // VTG on with checksum
+								 0x00, 0x01, // MSS off
+								 0x00, 0x01, // EPE off
+								 0x00, 0x01, // ZPA off
+								 0x00, 0x00, // pad
+								 0x96, 0x00, // 38400
+								 0x01, 0x25, // checksum TBD
+								 0xb0, 0xb3 }; // postamble
+
 void setup()
 {
 	Serial.begin(38400);
 	Serial1.begin(38400);
-	stderr = stdout;
-	gps.print_errors = true;
+
+	// try to coerce a SiRF unit that's been traumatized by
+	// AP_GPS_AUTO back into NMEA mode so that we can test
+	// it.
+	for (uint8_t i = 0; i < sizeof(sirf_to_nmea); i++)
+		Serial1.write(sirf_to_nmea[i]);
 
 	Serial.println("GPS NMEA library test");
-	gps.init();	 // GPS Initialization
-	delay(1000);
+	gps->init();
 }
 
 void loop()
 {
-	delay(20);
-	gps.update();
-	if (gps.new_data){
-		Serial.print("gps:");
-		Serial.print(" Lat:");
-		Serial.print((float)gps.latitude / T7, DEC);
-		Serial.print(" Lon:");
-		Serial.print((float)gps.longitude / T7, DEC);
-		Serial.print(" Alt:");
-		Serial.print((float)gps.altitude / 100.0, DEC);
-		Serial.print(" GSP:");
-		Serial.print(gps.ground_speed / 100.0);
-		Serial.print(" COG:");
-		Serial.print(gps.ground_course / 100, DEC);
-		Serial.print(" SAT:");
-		Serial.print(gps.num_sats, DEC);
-		Serial.print(" FIX:");
-		Serial.print(gps.fix, DEC);
-		Serial.print(" TIM:");
-		Serial.print(gps.time, DEC);
-		Serial.println();
-		gps.new_data = 0; // We have read the data
+	gps->update();
+	if (gps->new_data){
+		if (gps->fix) {
+			Serial.printf("\nLat: %.7f Lon: %.7f Alt: %.2fm GSP: %.2fm/s CoG: %d SAT: %d TIM: %lu",
+						  (float)gps->latitude / T7,
+						  (float)gps->longitude / T7,
+						  (float)gps->altitude / 100.0,
+						  (float)gps->ground_speed / 100.0,
+						  (int)gps->ground_course / 100,
+						  gps->num_sats,
+						  gps->time);
+		} else {
+			Serial.println("No fix");
 		}
+		gps->new_data = false;
+	}
 }