Rev 835 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 835 | Rev 881 | ||
|---|---|---|---|
| Line 55... | Line 55... | ||
| 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 56 | #include <string.h> |
56 | #include <string.h> |
| 57 | #include "91x_lib.h" |
57 | #include "91x_lib.h" |
| 58 | #include "uart0.h" |
58 | #include "uart0.h" |
| 59 | #include "uart1.h" |
59 | #include "uart1.h" |
| - | 60 | #include "uart2.h" |
|
| 60 | #include "ubx.h" |
61 | #include "ubx.h" |
| 61 | #include "main.h" |
62 | #include "main.h" |
| 62 | #include "led.h" |
63 | #include "led.h" |
| 63 | #include "timer1.h" |
64 | #include "timer1.h" |
| 64 | #include "GPS.h" |
65 | #include "GPS.h" |
| Line 323... | Line 324... | ||
| 323 | GPSData.Heading = UbxVelNed.Heading; //in steps of 1E-5 deg |
324 | GPSData.Heading = UbxVelNed.Heading; //in steps of 1E-5 deg |
| 324 | // NAV POSLLH |
325 | // NAV POSLLH |
| 325 | GPSData.Position.Status = INVALID; |
326 | GPSData.Position.Status = INVALID; |
| 326 | if(!(SimulationFlags & SIMULATION_ACTIVE)) |
327 | if(!(SimulationFlags & SIMULATION_ACTIVE)) |
| 327 | { |
328 | { |
| - | 329 | if((Parameter.User3 > 100) && (NMEA_Position.Status != INVALID)) |
|
| - | 330 | { |
|
| - | 331 | GPSData.Position.Longitude = NMEA_Position.Longitude; |
|
| - | 332 | GPSData.Position.Latitude = NMEA_Position.Latitude; |
|
| - | 333 | GPSData.Position.Altitude = NMEA_Position.Altitude; |
|
| - | 334 | if(CheckAscii(NMEA_In_Fix_Txt[3])) |
|
| - | 335 | GPSData.NumOfSats = 10 * AsciiToNum(NMEA_In_Fix_Txt[2]) + AsciiToNum(NMEA_In_Fix_Txt[3]); |
|
| - | 336 | else |
|
| - | 337 | if(CheckAscii(NMEA_In_Fix_Txt[2])) GPSData.NumOfSats = AsciiToNum(NMEA_In_Fix_Txt[2]); // nur eine Ziffer? (weiss nicht, ob das vorkommt..) |
|
| - | 338 | else GPSData.NumOfSats = 0; |
|
| - | 339 | } |
|
| - | 340 | else |
|
| - | 341 | { |
|
| - | 342 | ||
| 328 | GPSData.Position.Longitude = UbxPosLlh.LON; // in steps of 1E-7 deg |
343 | GPSData.Position.Longitude = UbxPosLlh.LON; // in steps of 1E-7 deg |
| 329 | GPSData.Position.Latitude = UbxPosLlh.LAT; // in steps of 1E-7 deg |
344 | GPSData.Position.Latitude = UbxPosLlh.LAT; // in steps of 1E-7 deg |
| 330 | GPSData.Position.Altitude = UbxPosLlh.HMSL; // in steps of 1 mm |
345 | GPSData.Position.Altitude = UbxPosLlh.HMSL; // in steps of 1 mm |
| - | 346 | } |
|
| 331 | } |
347 | } |
| 332 | else // simulation active |
348 | else // simulation active |
| 333 | { |
349 | { |
| 334 | if(GPSData.SatFix != SATFIX_3D || GPSData.NumOfSats < 6) // simulate satfix |
350 | if(GPSData.SatFix != SATFIX_3D || GPSData.NumOfSats < 6) // simulate satfix |
| 335 | { |
351 | { |