Luka Danilovic
/
PROJ515_GPS
GPS NMEA through NavSatFix
Diff: PROJ515.hpp
- Revision:
- 5:a201e5377e90
- Parent:
- 4:df54ebe69b38
- Child:
- 10:46216f5f48a8
- Child:
- 11:8e44351d580d
--- a/PROJ515.hpp Fri Mar 01 12:57:15 2019 +0000 +++ b/PROJ515.hpp Mon Mar 04 13:03:02 2019 +0000 @@ -8,11 +8,11 @@ #include "ros.h" // ROS Library #include "nav_msgs/Odometry.h" // ROS Navigation Messages component #include "std_msgs/String.h" // ROS Standard Messages component -#include "std_msgs/Char.h" // ROS Standard Messages component +//#include "std_msgs/Char.h" // ROS Standard Messages component /* Definitions */ #define LEDS_OFF 0x00 // LED bus all off -#define LEDS_ON 0x03 // LED bus all on +#define LEDS_ON 0x07 // LED bus all on #define GPS_TX PC_10 // GPS Transmit Pin #define GPS_RX PC_11 // GPS Recieve Pin #define USB_TX PC_12 // USB Transmit Pin @@ -25,11 +25,12 @@ #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 ONE 0x01 // Hard coded covariance of 1 +#define CVR 0x01 // Covariance value for rotational components #define PRINT_DATA 0x01 // Thread communication event to print data /* Declarations */ -extern char gps_c; // GPS stream character - Defined in PROJ515.cpp +extern char gps_c; // GPS stream character - Defined in PROJ515.cpp +extern int sats_n; // GPS satelite number - Defined in PROJ515.cpp /* Function prototypes */ void streamF(); // Function prototype for streaming data