Eigen
Dependencies: Vector3
Dependents: optWingforHAPS_Eigen hexaTest_Eigen
Diff: GPSUBX_UART.cpp
- Revision:
- 13:facd8e54f2eb
- Parent:
- 12:2ffb2fcaac23
- Child:
- 14:1ed344c662d2
diff -r 2ffb2fcaac23 -r facd8e54f2eb GPSUBX_UART.cpp --- a/GPSUBX_UART.cpp Thu Nov 04 09:41:59 2021 +0000 +++ b/GPSUBX_UART.cpp Fri Nov 12 06:11:39 2021 +0000 @@ -117,20 +117,16 @@ 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) + // STATUS + if (mc == 0x01 && mi == 0x03) { - RELPOSNED relposned; - for (int i = 0; i < RELPOSNED_LEN; i++) + STATUS status; + for (int i = 0; i < STATUS_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); + iTOW_RELPOSNED = status.data.iTOW; + gpsFix = satus.data.gpsFix; } // TIMEUTC else if (mc == 0x01 && mi == 0x21)