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Code Issues Releases Activity

OP-25 Flight/GPS: changes for OPGPS

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@639 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
sambas 2010-05-18 12:49:47 +00:00 committed by sambas
parent 0e81831399
commit b7601c9765
1 changed files with 34 additions and 22 deletions
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56
flight/OpenPilot/Modules/GPS/GPS.c
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@ -263,6 +263,13 @@ uint8_t nmeaProcess(cBuffer* rxBuffer)
// report packet type
foundpacket = NMEA_GPGSA;
}
else if(!strncmp(NmeaPacket, "GPRMC", 5))
{
// process packet of this type
//nmeaProcessGPRMC(NmeaPacket);
// report packet type
foundpacket = NMEA_GPRMC;
}
}
else if(rxBuffer->datalength >= rxBuffer->size)
{
@ -284,6 +291,7 @@ void nmeaProcessGPGGA(char* packet)
char *tokens;
char *delimiter = ",";
char *pEnd;
char token_length=0;
long deg,min,desim;
@ -315,22 +323,23 @@ void nmeaProcessGPGGA(char* packet)
// next field: latitude
// get latitude [ddmm.mmmmm]
tokens = strsep(&packet, delimiter);
if(strlen(tokens)==10)// 5 desimal output
token_length=strlen(tokens);
deg=strtol (tokens,&pEnd,10);
min=deg%100;
deg=deg/100;
desim=strtol (pEnd+1,NULL,10);
if(token_length==10)// 5 desimal output
{
deg=strtol (tokens,&pEnd,10);
min=deg%100;
deg=deg/100;
desim=strtol (pEnd+1,NULL,10);
GpsData.Latitude=deg+(min+desim/100000.0)/60.0; // to desimal degrees
}
else if(strlen(tokens)==9) // 4 desimal output
else if(token_length==9) // 4 desimal output
{
deg=strtol (tokens,&pEnd,10);
min=deg%100;
deg=deg/100;
desim=strtol (pEnd+1,NULL,10);
GpsData.Latitude=deg+(min+desim/10000.0)/60.0; // to desimal degrees
}
else if(token_length==11) // 6 desimal output OPGPS
{
GpsData.Latitude=deg+(min+desim/1000000.0)/60.0; // to desimal degrees
}
// next field: N/S indicator
// correct latitute for N/S
@ -340,23 +349,23 @@ void nmeaProcessGPGGA(char* packet)
// next field: longitude
// get longitude [dddmm.mmmmm]
tokens = strsep(&packet, delimiter);
if(strlen(tokens)==11)// 5 desimal output
token_length=strlen(tokens);
deg=strtol (tokens,&pEnd,10);
min=deg%100;
deg=deg/100;
desim=strtol (pEnd+1,NULL,10);
if(token_length==11)// 5 desimal output
{
deg=strtol (tokens,&pEnd,10);
min=deg%100;
deg=deg/100;
desim=strtol (pEnd+1,NULL,10);
GpsData.Longitude=deg+(min+desim/100000.0)/60.0; // to desimal degrees
}
else if(strlen(tokens)==10) // 4 desimal output
else if(token_length==10) // 4 desimal output
{
deg=strtol (tokens,&pEnd,10);
min=deg%100;
deg=deg/100;
desim=strtol (pEnd+1,NULL,10);
GpsData.Longitude=deg+(min+desim/10000.0)/60.0; // to desimal degrees
}
else if(token_length==12) // 6 desimal output OPGPS
{
GpsData.Longitude=deg+(min+desim/1000000.0)/60.0; // to desimal degrees
}
// next field: E/W indicator
// correct latitute for E/W
tokens = strsep(&packet, delimiter);
@ -384,7 +393,10 @@ void nmeaProcessGPGGA(char* packet)
//reuse variables for alt
deg=strtol (tokens,&pEnd,10); // always 0.1m resolution?
desim=strtol (pEnd+1,NULL,10);
GpsData.Altitude=deg+desim/10.0;
if(1) // OPGPS 3 desimal
GpsData.Altitude=deg+desim/1000.0;
else
GpsData.Altitude=deg+desim/10.0;
// next field: altitude units, always 'M'
// next field: geoid seperation