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Code Issues Releases Activity

OP-97 flight/GPS: Few more fixes

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2028 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
sambas 2010-10-28 14:58:39 +00:00 committed by sambas
parent b9f74a86c3
commit 3f62776253
2 changed files with 10 additions and 8 deletions
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4
flight/OpenPilot/Modules/GPS/GPS.c
View File

@ -105,6 +105,7 @@ static void gpsTask(void *parameters)
//#define DISABLE_GPS_TRESHOLD
//#define ENABLE_GPS_ONESENTENCE
//#define ENABLE_DEFAULT_NMEA
#ifdef DISABLE_GPS_TRESHOLD
PIOS_COM_SendStringNonBlocking(gpsPort,"$PMTK397,0*23\r\n");
@ -112,6 +113,9 @@ static void gpsTask(void *parameters)
#ifdef ENABLE_GPS_ONESENTENCE
PIOS_COM_SendStringNonBlocking(gpsPort,"$PGCMD,21,2*6C\r\n");
#endif
#ifdef ENABLE_DEFAULT_NMEA
PIOS_COM_SendStringNonBlocking(gpsPort,"$PGCMD,21,3*6D\r\n");
#endif
// Loop forever
while (1) {

14
flight/OpenPilot/Modules/GPS/NMEA.c
View File

@ -620,11 +620,10 @@ static bool nmeaProcessPGTOP(GPSPositionData * GpsData, char *sentence)
gpst.Hour = (int)hms / 10000;
// next field: latitude
// get latitude [ddmm.mmmmm]
// get latitude decimal degrees
tokens = strsep(&next, delimiter);
if (!NMEA_latlon_to_fixed_point(&GpsData->Latitude, tokens)) {
return false;
}
GpsData->Latitude = NMEA_real_to_float(tokens)*1e7;
// next field: N/S indicator
// correct latitude for N/S
tokens = strsep(&next, delimiter);
@ -632,11 +631,10 @@ static bool nmeaProcessPGTOP(GPSPositionData * GpsData, char *sentence)
GpsData->Latitude = -GpsData->Latitude;
// next field: longitude
// get longitude [dddmm.mmmmm]
// get longitude decimal degrees
tokens = strsep(&next, delimiter);
if (!NMEA_latlon_to_fixed_point(&GpsData->Longitude, tokens)) {
return false;
}
GpsData->Longitude = NMEA_real_to_float(tokens)*1e7;
// next field: E/W indicator
// correct longitude for E/W
tokens = strsep(&next, delimiter);