GPS/GNSS UBX library for UART
Dependencies: Vector3
Diff: GPSUBX_UART.cpp
- Revision:
- 10:a90d07e4c34d
- Parent:
- 2:6218fe8e54f4
- Child:
- 12:2ffb2fcaac23
--- a/GPSUBX_UART.cpp Mon Sep 20 14:42:08 2021 +0000 +++ b/GPSUBX_UART.cpp Mon Nov 01 16:18:41 2021 +0000 @@ -117,6 +117,21 @@ Height = (float)posllh.data.height / 1000.0f; // pc.printf("!%d, %f, %f, %f\r\n", iTOW_POSLLH, Longitude, Latitude, Height); } + // RELPOSNED + if (mc == 0x01 && mi == 0x3c) + { + RELPOSNED relposned; + for (int i = 0; i < RELPOSNED_LEN; i++) + { + relposned.byte_data[i] = buffer[i+6]; + } + RefStationID = relposned.data.refStationId; + iTOW_RELPOSNED = relposned.data.iTOW; + RelPosNED.x = (float)relposned.data.relPosN / 100.0f + (float)relposned.data.relPosHPN / 1000.0f; + RelPosNED.y = (float)relposned.data.relPosE / 100.0f + (float)relposned.data.relPosHPE / 1000.0f; + RelPosNED.z = (float)relposned.data.relPosD / 100.0f + (float)relposned.data.relPosHPD / 1000.0f; +// pc.printf("^%d, %d, %f, %f, %f\r\n", iTOW_RELPOSNED, RefStationID, RelPosNED.x, RelPosNED.y, RelPosNED.z); + } // TIMEUTC else if (mc == 0x01 && mi == 0x21) {