Changeset 180 in flair-src for trunk/lib/FlairSensorActuator

Timestamp:

May 31, 2017, 3:53:32 PM (7 years ago)

Author:

Sanahuja Guillaume

Message:

modifs gps

Location:

trunk/lib/FlairSensorActuator/src

Files:

• Mb800.cpp (modified) (1 diff)
• NmeaGps.cpp (modified) (1 diff)
• NmeaGps.h (modified) (1 diff)

trunk/lib/FlairSensorActuator/src/Mb800.cpp

@@ -92 +92 @@
     }
   }
+  if ((NMEAFlags & GSA) != 0) {
+    char to_send[] = "$PASHS,NME,GSA,A,ON,0.1\r\n";
+    written = serialport->Write(to_send, sizeof(to_send));
+    if (written< 0) {
+      Thread::Err("erreur Write (%s)\n", strerror(-written));
+    }
+  }
 
   Sync();

trunk/lib/FlairSensorActuator/src/NmeaGps.cpp

@@ -233 +233 @@
         gpsData->SetVelocity(info.speed * 1000. / 3600. * sin(Euler::ToRadian(info.direction)),
                                   info.speed * 1000. / 3600. * cos(Euler::ToRadian(info.direction)));
-      }/*
+      }
+      if ((NMEAFlags & GSA) != 0) {
+        gpsData->SetDop(info.PDOP,info.HDOP,info.VDOP);
+      }
+      /*
       if ((NMEAFlags & GST) != 0) {
         // Thread::Printf("dev_lon:%f dev_lat:%f

trunk/lib/FlairSensorActuator/src/NmeaGps.h

@@ -53 +53 @@
     VTG = 0x02, /*!< VTG */
     GST = 0x04, /*!< GST */
+    GSA = 0x08, /*!< GSA */
   };