Rev 491 | Rev 503 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 491 | Rev 492 | ||
|---|---|---|---|
| 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 |