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