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Rev 2084 Rev 2088
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} UBX_VELNED_t;
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} UBX_VELNED_t;
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UBX_SOL_t ubxSol = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, INVALID };
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UBX_SOL_t ubxSol = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, INVALID };
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UBX_POSLLH_t ubxPosLlh = { 0, 0, 0, 0, 0, 0, 0, INVALID };
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UBX_POSLLH_t ubxPosLlh = { 0, 0, 0, 0, 0, 0, 0, INVALID };
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UBX_VELNED_t ubxVelNed = { 0, 0, 0, 0, 0, 0, 0, 0, 0, INVALID };
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UBX_VELNED_t ubxVelNed = { 0, 0, 0, 0, 0, 0, 0, 0, 0, INVALID };
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GPS_INFO_t GPSInfo = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, INVALID };
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GPS_INFO_t GPSInfo = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, INVALID };
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volatile uint8_t GPSTimeout = 0;
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volatile uint8_t GPSTimeout = 0;
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      GPSInfo.status = INVALID;
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      GPSInfo.status = INVALID;
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      // NAV SOL
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      // NAV SOL
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      GPSInfo.flags =   ubxSol.flags;
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      GPSInfo.flags =   ubxSol.flags;
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      GPSInfo.satfix =  ubxSol.GPSfix;
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      GPSInfo.satfix =  ubxSol.GPSfix;
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      GPSInfo.satnum =  ubxSol.numSV;
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      GPSInfo.satnum =  ubxSol.numSV;
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      GPSInfo.PAcc =    ubxSol.pAcc;
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      GPSInfo.position3DAcc =  ubxSol.pAcc;
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      GPSInfo.verticalAcc =    ubxPosLlh.vAacc;
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      GPSInfo.VAcc =    ubxSol.sAcc;
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      GPSInfo.velocityAcc =    ubxSol.sAcc;
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      debugOut.analog[30] = ubxPosLlh.HMSL/1000L;
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      debugOut.analog[31] = GPSInfo.VAcc;
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      debugOut.analog[31] = GPSInfo.verticalAcc/1000L;
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      // NAV POSLLH
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      // NAV POSLLH
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      GPSInfo.longitude =   ubxPosLlh.lon;
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      GPSInfo.longitude =   ubxPosLlh.lon;
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      GPSInfo.latitude =    ubxPosLlh.lat;
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      GPSInfo.latitude =    ubxPosLlh.lat;