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Rev 491 | Rev 492 | ||
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Line 297... | Line 297... | ||
297 | last_itow = UbxSol.itow; // update last itow |
297 | last_itow = UbxSol.itow; // update last itow |
298 | // NAV SOL |
298 | // NAV SOL |
299 | GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits |
299 | GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits |
300 | GPSData.NumOfSats = UbxSol.numSV; |
300 | GPSData.NumOfSats = UbxSol.numSV; |
301 | GPSData.SatFix = UbxSol.GPSfix; |
301 | GPSData.SatFix = UbxSol.GPSfix; |
302 | GPSData.Position_Accuracy = UbxSol.PAcc; |
302 | GPSData.Position_Accuracy = UbxSol.PAcc; // in steps of 1cm |
303 | GPSData.Speed_Accuracy = UbxSol.SAcc; |
303 | GPSData.Speed_Accuracy = UbxSol.SAcc; // in steps of 1cm/s |
304 | SetGPSTime(&SystemTime); // update system time |
304 | SetGPSTime(&SystemTime); // update system time |
305 | // NAV POSLLH |
305 | // NAV POSLLH |
306 | GPSData.Position.Status = INVALID; |
306 | GPSData.Position.Status = INVALID; |
307 | GPSData.Position.Longitude = UbxPosLlh.LON; |
307 | GPSData.Position.Longitude = UbxPosLlh.LON; // in steps of 1E-7 deg |
308 | GPSData.Position.Latitude = UbxPosLlh.LAT; |
308 | GPSData.Position.Latitude = UbxPosLlh.LAT; // in steps of 1E-7 deg |
309 | GPSData.Position.Altitude = UbxPosLlh.HMSL; |
309 | GPSData.Position.Altitude = UbxPosLlh.HMSL; // in steps of 1 mm |
310 | GPSData.Position.Status = NEWDATA; |
310 | GPSData.Position.Status = NEWDATA; |
311 | // NAV VELNED |
311 | // NAV VELNED |
312 | GPSData.Speed_East = UbxVelNed.VEL_E; |
312 | GPSData.Speed_East = UbxVelNed.VEL_E; // in steps of 1cm/s |
313 | GPSData.Speed_North = UbxVelNed.VEL_N; |
313 | GPSData.Speed_North = UbxVelNed.VEL_N; // in steps of 1cm/s |
314 | GPSData.Speed_Top = -UbxVelNed.VEL_D; |
314 | GPSData.Speed_Top = -UbxVelNed.VEL_D; // in steps of 1cm/s |
315 | GPSData.Speed_Ground = UbxVelNed.GSpeed; |
315 | GPSData.Speed_Ground = UbxVelNed.GSpeed; // in steps of 1cm/s |
316 | GPSData.Heading = UbxVelNed.Heading; |
316 | GPSData.Heading = UbxVelNed.Heading; //in steps of 1E-5 deg |
Line 317... | Line 317... | ||
317 | 317 | ||
318 | GPSData.Status = NEWDATA; // new data available |
318 | GPSData.Status = NEWDATA; // new data available |
319 | } // EOF if(GPSData.Status != NEWDATA) |
319 | } // EOF if(GPSData.Status != NEWDATA) |
320 | // set state to collect new data |
320 | // set state to collect new data |