HAPSRG / Mbed 2 deprecated optWingforHAPS_Eigen

Eigen Revision

Dependencies:   mbed LPS25HB_I2C LSM9DS1 PIDcontroller Autopilot_Eigen LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM

gps.cpp

Committer:
cocorlow
Date:
2021-12-10
Revision:
141:725321fe2949
Parent:
139:b378528c05f2
Child:
143:53808e4e684c

File content as of revision 141:725321fe2949:

#include "global.hpp"

void getGPSval()
{
    gpsUpdateFlag = false;
    gps.Update();
    if (gps.iTOW_STATUS != itow_status){
        itow_status = gps.iTOW_STATUS;
        if(gps.gpsFix == 0x02 || gps.gpsFix == 0x03){
            vi = gps.VelocityNED;
            if(gpsLlh0Fixed == false){
                gps.CalculateUnit();
                gpsLlh0Fixed = true;
            }else{
                gps.Calculate();
            }
            pi = gps.PositionNED;
            gpsUpdateFlag = true;
        }
    }
}