Luka Danilovic
/
PROJ515_GPS
GPS NMEA through NavSatFix
Revision 17:264eb15c8be2, committed 2019-04-23
- Comitter:
- Luka_Danilovic
- Date:
- Tue Apr 23 16:02:34 2019 +0000
- Parent:
- 16:394d6b995bf8
- Commit message:
- Fixed the issue of location not updating when "statCheck" print-out is running
Changed in this revision
PROJ515.cpp | Show annotated file Show diff for this revision Revisions of this file |
PROJ515.hpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/PROJ515.cpp Tue Apr 09 15:59:24 2019 +0000 +++ b/PROJ515.cpp Tue Apr 23 16:02:34 2019 +0000 @@ -43,7 +43,6 @@ gps_odom_msg.header.stamp = nh.now(); // Get current time gps_odom_pub.publish(&gps_odom_msg); // Publish the Odometry message - usbSer.printf("\n>Valid Loc<"); // Print out valid location } } @@ -101,12 +100,19 @@ if (gpsModule.location.isValid()) { // If GPS location is Valid thread_com.set(PRINT_DATA); // Set EventFlag to Print Data - leds = LEDS_ON; // Flash LED bus ON } + + sats_n = gpsModule.satellites.value(); // Aquire satelite number + if (sats_n > 0){ + leds = LEDS_ON; + } if (btn) { // If blue button is pressed - sats_n = gpsModule.satellites.value(); // Aquire satelite number - usbSer.printf("\nstatChck: %d Satelites", sats_n); // Print Status + + usbSer.printf("\n\nTimestamp: %d ", nh.now()); // Print Status: Time Stamp + usbSer.printf("\nstatChck: %d Satelites", sats_n); // Print Status: Satelite Number + usbSer.printf("\nstatChck: %f Long", gpsModule.location.lng()); // Print Status: Long + usbSer.printf("\nstatChck: %f Lat", gpsModule.location.lat()); // Print Status: Lat } }
--- a/PROJ515.hpp Tue Apr 09 15:59:24 2019 +0000 +++ b/PROJ515.hpp Tue Apr 23 16:02:34 2019 +0000 @@ -15,11 +15,11 @@ #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 -#define USB_RX PD_2 // USB Recieve Pin +#define USB_TX PD_5 // USB Transmit Pin +#define USB_RX PD_6 // USB Recieve Pin #define GPS_Baud 9600 // GPS Baud Rate -#define USB_Baud 9600 // ROS Baud Rate +#define USB_Baud 9600 // USB Baud Rate #define ROS_Baud 921600 // ROS Baud Rate #define frameID "gps_odom" // ROS frame ID