Revision 1:aef1562834b4, committed 2014-02-16

Comitter:

stearnsc

Date:

Sun Feb 16 22:12:47 2014 +0000

Parent:

0:9c001c4e7bf4

Commit message:

cs: Enable DGPS

Changed in this revision

--- a/main.cpp	Sun Feb 16 21:26:54 2014 +0000
+++ b/main.cpp	Sun Feb 16 22:12:47 2014 +0000
@@ -7,9 +7,9 @@
 Serial gps(p28,p27);
 
 typedef struct {
-    int latitude;  //in .0001 minutes
-    int longitude; //in .0001 minutes
-    int altitude;  //in decimeters
+    int latitude;  //in 0.0001 minutes
+    int longitude; //in 0.0001 minutes
+    int altitude;  //in 0.1 m
     int time;      //in milliseconds
 } GpsData;
 
@@ -101,6 +101,12 @@
                 otherGps.latitude, otherGps.longitude, otherGps.altitude, otherGps.time
             );
             reading = false;
+            pc.printf("Lat: %d, Lon: %d, Alt: %d, Time: %d\r\n",
+                gpsData.latitude - otherGps.latitude,
+                gpsData.longitude - otherGps.longitude,
+                gpsData.altitude - otherGps.altitude,
+                gpsData.time - otherGps.time
+            );
         }
     } else if (c == 'X'){
         reading = true;    
@@ -132,9 +138,9 @@
             gpsData.altitude = parseDec(field);
             
             //update whatever needs updating when gps updates
-            pc.printf("My GPS data: Lat: %d, Lon: %d, Alt: %d, Time:%d\r\n",
-                gpsData.latitude, gpsData.longitude, gpsData.altitude, gpsData.time
-            );
+//            pc.printf("My GPS data: Lat: %d, Lon: %d, Alt: %d, Time:%d\r\n",
+//                gpsData.latitude, gpsData.longitude, gpsData.altitude, gpsData.time
+//            );
             
             line.str(string(""));
             reading = false;
@@ -154,7 +160,6 @@
     pc.baud(57600);
     
 //    sendGpsCommand("PMTK301,1");
-//    while(true){pc.putc(gps.getc());}
     gps.attach(&handleGpsData, Serial::RxIrq);
-//    xbee.attach(&handleXbeeGps, Serial::RxIrq);
+    xbee.attach(&handleXbeeGps, Serial::RxIrq);
 }