Diff: PROJ515.hpp

Revision:

13:755a3cd9d35d

Parent:

11:8e44351d580d

Child:

14:90590736e700

--- a/PROJ515.hpp	Fri Mar 08 12:45:01 2019 +0000
+++ b/PROJ515.hpp	Tue Mar 19 12:32:22 2019 +0000
@@ -6,7 +6,7 @@
 #include "mbed.h"               // Mbed RTOS
 #include "TinyGPSPlus.h"        // GPS Module Library
 #include "ros.h"                // ROS Library
-#include "nav_msgs/Odometry.h"  // ROS Navigation Messages component
+#include "sensor_msgs/NavSatFix.h"  // ROS Sensor Messages component
 #include "std_msgs/String.h"    // ROS Standard Messages component
 //#include "std_msgs/Char.h"      // ROS Standard Messages component
 
@@ -16,16 +16,16 @@
 #define GPS_TX PC_10            // GPS Transmit Pin
 #define GPS_RX PC_11            // GPS Recieve  Pin
 #define USB_TX PC_12            // USB Transmit Pin
+
 #define USB_RX PD_2             // USB Recieve  Pin
 #define GPS_Baud 9600           // GPS Baud Rate
 #define USB_Baud 9600           // ROS Baud Rate
-#define ROS_Baud 921600          // ROS Baud Rate
-#define frameID "gps_odom"     // ROS frame ID
-#define childID "base_link"    // ROS child frame ID
+#define ROS_Baud 921600         // ROS Baud Rate
+#define frameID "gps_odom"      // ROS frame ID
 #define CVX 0x01                // Covariance value for X from the datasheet
 #define CVY 0x01                // Covariance value for X from the datasheet
 #define CVZ 0x01                // Covariance value for X from the datasheet
-#define CVR 0x01                // Covariance value for rotational components
+#define CVO 0x00                // Covariance value for zero components
 #define PRINT_DATA 0x01         // Thread communication event to print data
 
 /* Declarations */