Diff: GPSUBX_UART.cpp

Revision:

10:a90d07e4c34d

Parent:

2:6218fe8e54f4

Child:

12:2ffb2fcaac23

diff -r 874d7633e358 -r a90d07e4c34d GPSUBX_UART.cpp
--- 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)
     {