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| author | Denis Yeldandi <dyeldandi@gramant.ru> | 2014-10-09 11:37:22 +0400 |
|---|---|---|
| committer | Denis Yeldandi <dyeldandi@gramant.ru> | 2014-10-09 11:37:22 +0400 |
| commit | d3875eabf2ce0ac538954b0d5747f1155cf2ef33 (patch) | |
| tree | c2380911852bba07a382b978e8c939cf03c28a0a /src/drivers | |
| parent | 9f33555f53d253a04de1ca97d1306b763c9d2b6e (diff) | |
| download | px4-firmware-d3875eabf2ce0ac538954b0d5747f1155cf2ef33.tar.gz px4-firmware-d3875eabf2ce0ac538954b0d5747f1155cf2ef33.tar.bz2 px4-firmware-d3875eabf2ce0ac538954b0d5747f1155cf2ef33.zip | |
Removed VTG message parsing
Diffstat (limited to 'src/drivers')
| -rw-r--r-- | src/drivers/gps/ashtech.cpp | 36 |
1 files changed, 0 insertions, 36 deletions
diff --git a/src/drivers/gps/ashtech.cpp b/src/drivers/gps/ashtech.cpp index 7342d01d1..077a6ddf4 100644 --- a/src/drivers/gps/ashtech.cpp +++ b/src/drivers/gps/ashtech.cpp @@ -419,42 +419,6 @@ int ASHTECH::handle_message(int len) _gps_position->s_variance_m_s = 0; _gps_position->timestamp_variance = hrt_absolute_time(); - } else if ((memcmp(_rx_buffer + 3, "VTG,", 3) == 0) && (uiCalcComma == 9)) { - /* - Track made good and speed over ground - An example of the VTG message string is: - - $GPVTG,054.7,T,034.4,M,005.5,N,010.2,K*48 - - VTG message fields - Field Meaning - 0 Message ID $GPVTG - 1 Track made good (degrees true) - 2 T: track made good is relative to true north - 3 Track made good (degrees magnetic) - 4 M: track made good is relative to magnetic north - 5 Speed, in knots - 6 N: speed is measured in knots - 7 Speed over ground in kilometers/hour (kph) - 8 K: speed over ground is measured in kph - 9 The checksum data, always begins with * - */ - /*float64_t track_true = 0.0, speed = 0.0, track_magnetic = 0.0, ground_speed = 0.0; - char true_north = '?', magnetic_north = '?', speed_in_knots = '?', speed_in_kph = '?'; - - if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&track_true); - if(bufptr && *(++bufptr) != ',') true_north = *(bufptr++); - if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&track_magnetic); - if(bufptr && *(++bufptr) != ',') magnetic_north = *(bufptr++); - if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&speed); - if(bufptr && *(++bufptr) != ',') speed_in_knots = *(bufptr++); - if(bufptr && *(++bufptr) != ',') bufptr = scanFloat64(bufptr, 0, 9, 9,&ground_speed); - if(bufptr && *(++bufptr) != ',') speed_in_kph = *(bufptr++); - - const float64_t dPI = 3.14159265; - float64_t tan_C = tan(track_true * dPI / 180.0); - float64_t lat_ = sqrt(ground_speed*ground_speed/ (1+tan_C)); //km/hour - float64_t lon_ = lat_*tan_C; // //km/hour*/ } else if ((memcmp(_rx_buffer + 3, "GSV,", 3) == 0)) { /* The GSV message string identifies the number of SVs in view, the PRN numbers, elevations, azimuths, and SNR values. An example of the GSV message string is: |