112,7 → 112,7 |
volatile ubx_nav_sol_t UbxSol = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, INVALID}; |
volatile ubx_nav_posllh_t UbxPosLlh = {0,0,0,0,0,0,0, INVALID}; |
volatile ubx_nav_velned_t UbxVelNed = {0,0,0,0,0,0,0,0,0, INVALID}; |
ubxmsg_t UbxMsg; |
volatile ubxmsg_t UbxMsg; |
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239,6 → 239,7 |
{ |
UBX_Timeout = SetDelay(UBX_TIMEOUT); |
DebugOut.Analog[11]++; |
CountNewGpsDataIn5Sec++; |
// update GPS data only if the status is INVALID or PROCESSED |
if(GPSData.Status != NEWDATA) |
{ // wait for new data at all neccesary ubx messages |
302,8 → 303,8 |
break; |
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case UBXSTATE_SYNC2: // check msg class to be NAV |
if (c == UBX_CLASS_NAV) ubxState = UBXSTATE_CLASS; |
else ubxState = UBXSTATE_IDLE; // unsupported message class |
RxHdr.Class = c; |
ubxState = UBXSTATE_CLASS; |
break; |
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case UBXSTATE_CLASS: // check message identifier |