| 280,6 → 280,7 |
|---|
| void Update_GPSData(void) |
| { |
| static u32 last_itow = 0; |
| static u32 milliseconds = 0; |
| |
| // if a new set of ubx messages was collected |
| if((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA)) |
| 295,6 → 296,7 |
|---|
| GPSData.Status = INVALID; |
| // update message cycle time |
| GPSData.MsgCycleTime = (u16)(UbxSol.itow-last_itow); |
| milliseconds += GPSData.MsgCycleTime; |
| last_itow = UbxSol.itow; // update last itow |
| // NAV SOL |
| GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits |
| 303,15 → 305,6 |
|---|
| GPSData.Position_Accuracy = UbxSol.PAcc; // in steps of 1cm |
| GPSData.Speed_Accuracy = UbxSol.SAcc; // in steps of 1cm/s |
| SetGPSTime(&SystemTime); // update system time |
| // NAV POSLLH |
| GPSData.Position.Status = INVALID; |
| if(!(SimulationFlags & SIMULATION_ACTIVE)) |
| { |
| GPSData.Position.Longitude = UbxPosLlh.LON; // in steps of 1E-7 deg |
| GPSData.Position.Latitude = UbxPosLlh.LAT; // in steps of 1E-7 deg |
| } |
| GPSData.Position.Altitude = UbxPosLlh.HMSL; // in steps of 1 mm |
| GPSData.Position.Status = NEWDATA; |
| // NAV VELNED |
| GPSData.Speed_East = UbxVelNed.VEL_E; // in steps of 1cm/s |
| GPSData.Speed_North = UbxVelNed.VEL_N; // in steps of 1cm/s |
| 318,6 → 311,34 |
|---|
| GPSData.Speed_Top = -UbxVelNed.VEL_D; // in steps of 1cm/s |
| GPSData.Speed_Ground = UbxVelNed.GSpeed; // in steps of 1cm/s |
| GPSData.Heading = UbxVelNed.Heading; //in steps of 1E-5 deg |
| // NAV POSLLH |
| GPSData.Position.Status = INVALID; |
| if(!(SimulationFlags & SIMULATION_ACTIVE)) |
| { |
| GPSData.Position.Longitude = UbxPosLlh.LON; // in steps of 1E-7 deg |
| GPSData.Position.Latitude = UbxPosLlh.LAT; // in steps of 1E-7 deg |
| GPSData.Position.Altitude = UbxPosLlh.HMSL; // in steps of 1 mm |
| } |
| else // simulation active |
| { |
| if(GPSData.SatFix != SATFIX_3D) // simulate satfix |
| { |
| GPSData.SatFix = SATFIX_3D; |
| GPSData.Flags |= FLAG_GPSFIXOK; |
| GPSData.NumOfSats = 8; |
| if(!SystemTime.Valid) |
| { |
| UbxSol.Status = 1; |
| UbxSol.Flags |= FLAG_WKNSET; |
| UbxSol.Flags |= FLAG_TOWSET; |
| UbxSol.week = 1043; // starts in year 2000 |
| UbxSol.itow = milliseconds; |
| SetGPSTime(&SystemTime); // update system time |
| SystemTime.Valid = 1; // use the time that is given by the GPS-Module |
| } |
| } |
| } |
| GPSData.Position.Status = NEWDATA; |
| |
| GPSData.Status = NEWDATA; // new data available |
| } // EOF if(GPSData.Status != NEWDATA) |