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| Rev 881 | Rev 883 | ||
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| Line 61... | Line 61... | ||
| 61 | #include "ubx.h" |
61 | #include "ubx.h" |
| 62 | #include "main.h" |
62 | #include "main.h" |
| 63 | #include "led.h" |
63 | #include "led.h" |
| 64 | #include "timer1.h" |
64 | #include "timer1.h" |
| 65 | #include "GPS.h" |
65 | #include "GPS.h" |
| - | 66 | #include "spi_slave.h" |
|
| Line 66... | Line 67... | ||
| 66 | 67 | ||
| 67 | // ------------------------------------------------------------------------------------------------ |
68 | // ------------------------------------------------------------------------------------------------ |
| Line 68... | Line 69... | ||
| 68 | // defines |
69 | // defines |
| Line 324... | Line 325... | ||
| 324 | GPSData.Heading = UbxVelNed.Heading; //in steps of 1E-5 deg |
325 | GPSData.Heading = UbxVelNed.Heading; //in steps of 1E-5 deg |
| 325 | // NAV POSLLH |
326 | // NAV POSLLH |
| 326 | GPSData.Position.Status = INVALID; |
327 | GPSData.Position.Status = INVALID; |
| 327 | if(!(SimulationFlags & SIMULATION_ACTIVE)) |
328 | if(!(SimulationFlags & SIMULATION_ACTIVE)) |
| 328 | { |
329 | { |
| - | 330 | ||
| 329 | if((Parameter.User3 > 100) && (NMEA_Position.Status != INVALID)) |
331 | if((NMEA_Position.Status != INVALID) && (PPM_In[EE_Parameter.ExternalGpsChannel] > 50)) |
| 330 | { |
332 | { |
| 331 | GPSData.Position.Longitude = NMEA_Position.Longitude; |
333 | GPSData.Position.Longitude = NMEA_Position.Longitude; |
| 332 | GPSData.Position.Latitude = NMEA_Position.Latitude; |
334 | GPSData.Position.Latitude = NMEA_Position.Latitude; |
| 333 | GPSData.Position.Altitude = NMEA_Position.Altitude; |
335 | GPSData.Position.Altitude = NMEA_Position.Altitude; |
| 334 | if(CheckAscii(NMEA_In_Fix_Txt[3])) |
336 | if(CheckAscii(NMEA_In_Fix_Txt[3])) |
| 335 | GPSData.NumOfSats = 10 * AsciiToNum(NMEA_In_Fix_Txt[2]) + AsciiToNum(NMEA_In_Fix_Txt[3]); |
337 | GPSData.NumOfSats = 10 * AsciiToNum(NMEA_In_Fix_Txt[2]) + AsciiToNum(NMEA_In_Fix_Txt[3]); |
| 336 | else |
338 | 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..) |
339 | 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; |
340 | else GPSData.NumOfSats = 0; |
| - | 341 | ExternalGpsInUse = 1; |
|
| 339 | } |
342 | } |
| 340 | else |
343 | else |
| 341 | { |
344 | { |
| Line 342... | Line 345... | ||
| 342 | 345 | ||
| 343 | GPSData.Position.Longitude = UbxPosLlh.LON; // in steps of 1E-7 deg |
346 | GPSData.Position.Longitude = UbxPosLlh.LON; // in steps of 1E-7 deg |
| 344 | GPSData.Position.Latitude = UbxPosLlh.LAT; // in steps of 1E-7 deg |
347 | GPSData.Position.Latitude = UbxPosLlh.LAT; // in steps of 1E-7 deg |
| - | 348 | GPSData.Position.Altitude = UbxPosLlh.HMSL; // in steps of 1 mm |
|
| 345 | GPSData.Position.Altitude = UbxPosLlh.HMSL; // in steps of 1 mm |
349 | ExternalGpsInUse = 0; |
| 346 | } |
350 | } |
| 347 | } |
351 | } |
| 348 | else // simulation active |
352 | else // simulation active |
| 349 | { |
353 | { |