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correct configuration bug and change values of Fix to be consistent with ublox and APM 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@378 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
deweibel 2010-09-02 23:32:16 +00:00
parent 40a9335e1a
commit fe0ba2bb29
1 changed files with 8 additions and 4 deletions
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12
libraries/AP_GPS/AP_GPS_MTK.cpp
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@ -8,7 +8,7 @@
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 : Costum protocol GPS configuration : Custum protocol
Baud rate : 38400 Baud rate : 38400
Methods: Methods:
@ -23,7 +23,7 @@
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 NO fix, 2: 2D fix, 3: 3D fix. Fix : 0: GPS NO FIX or 2D FIX, 1: 3D FIX.
*/ */
@ -39,7 +39,6 @@ AP_GPS_MTK::AP_GPS_MTK()
// Public Methods ////////////////////////////////////////////////////////////// // Public Methods //////////////////////////////////////////////////////////////
void AP_GPS_MTK::init(void) void AP_GPS_MTK::init(void)
{ {
Serial.print("$PGCMD,16,0,0,0,0,0*6A\r\n");
ck_a = 0; ck_a = 0;
ck_b = 0; ck_b = 0;
@ -48,12 +47,13 @@ void AP_GPS_MTK::init(void)
fix = 0; fix = 0;
print_errors = 0; print_errors = 0;
// initialize serial port // initialize serial port for binary protocol use
#if defined(__AVR_ATmega1280__) #if defined(__AVR_ATmega1280__)
Serial1.begin(38400); // Serial port 1 on ATMega1280 Serial1.begin(38400); // Serial port 1 on ATMega1280
#else #else
Serial.begin(38400); Serial.begin(38400);
#endif #endif
Serial1.print("$PGCMD,16,0,0,0,0,0*6A\r\n");
} }
// optimization : This code don¥t wait for data, only proccess the data available // optimization : This code don¥t wait for data, only proccess the data available
@ -162,6 +162,10 @@ AP_GPS_MTK::parse_gps(void)
num_sats = buffer[j]; num_sats = buffer[j];
j++; j++;
fix = buffer[j]; fix = buffer[j];
if (fix==3)
fix = 1;
else
fix = 0;
j++; j++;
time = join_4_bytes(&buffer[j]); time = join_4_bytes(&buffer[j]);
new_data = 1; new_data = 1;