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57 | #include "91x_lib.h" |
57 | #include "91x_lib.h" |
58 | #include "uart1.h" |
58 | #include "uart1.h" |
59 | #include "ubx.h" |
59 | #include "ubx.h" |
60 | #include "led.h" |
60 | #include "led.h" |
61 | #include "timer1.h" |
61 | #include "timer1.h" |
- | 62 | #include "GPS.h" |
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Line 62... | Line 63... | ||
62 | 63 | ||
63 | // ------------------------------------------------------------------------------------------------ |
64 | // ------------------------------------------------------------------------------------------------ |
Line 64... | Line 65... | ||
64 | // defines |
65 | // defines |
Line 302... | Line 303... | ||
302 | GPSData.Position_Accuracy = UbxSol.PAcc; // in steps of 1cm |
303 | GPSData.Position_Accuracy = UbxSol.PAcc; // in steps of 1cm |
303 | GPSData.Speed_Accuracy = UbxSol.SAcc; // in steps of 1cm/s |
304 | GPSData.Speed_Accuracy = UbxSol.SAcc; // in steps of 1cm/s |
304 | SetGPSTime(&SystemTime); // update system time |
305 | SetGPSTime(&SystemTime); // update system time |
305 | // NAV POSLLH |
306 | // NAV POSLLH |
306 | GPSData.Position.Status = INVALID; |
307 | GPSData.Position.Status = INVALID; |
- | 308 | if(!(SimulationFlags & SIMULATION_ACTIVE)) |
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- | 309 | { |
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307 | GPSData.Position.Longitude = UbxPosLlh.LON; // in steps of 1E-7 deg |
310 | GPSData.Position.Longitude = UbxPosLlh.LON; // in steps of 1E-7 deg |
308 | GPSData.Position.Latitude = UbxPosLlh.LAT; // in steps of 1E-7 deg |
311 | GPSData.Position.Latitude = UbxPosLlh.LAT; // in steps of 1E-7 deg |
- | 312 | } |
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309 | GPSData.Position.Altitude = UbxPosLlh.HMSL; // in steps of 1 mm |
313 | GPSData.Position.Altitude = UbxPosLlh.HMSL; // in steps of 1 mm |
310 | GPSData.Position.Status = NEWDATA; |
314 | GPSData.Position.Status = NEWDATA; |
311 | // NAV VELNED |
315 | // NAV VELNED |
312 | GPSData.Speed_East = UbxVelNed.VEL_E; // in steps of 1cm/s |
316 | GPSData.Speed_East = UbxVelNed.VEL_E; // in steps of 1cm/s |
313 | GPSData.Speed_North = UbxVelNed.VEL_N; // in steps of 1cm/s |
317 | GPSData.Speed_North = UbxVelNed.VEL_N; // in steps of 1cm/s |