New GPS Lib

git-svn-id: https://arducopter.googlecode.com/svn/trunk@342 f9c3cf11-9bcb-44bc-f272-b75c42450872

libraries/AP_GPS/AP_GPS_IMU.cpp

@@ -27,6 +27,7 @@
 			
 */
 #include "AP_GPS_IMU.h"
+#include "WProgram.h"
 
 
 // Constructors ////////////////////////////////////////////////////////////////

libraries/AP_GPS/AP_GPS_IMU.h

@@ -1,10 +1,10 @@
 #ifndef AP_GPS_IMU_h
 #define AP_GPS_IMU_h
 
-#include "AP_GPS.h"
+#include <GPS.h>
 #define MAXPAYLOAD 32
 
-class AP_GPS_IMU : public AP_GPS
+class AP_GPS_IMU : public GPS
 {
   public:
     // Methods

libraries/AP_GPS/AP_GPS_MTK.cpp

@@ -1,6 +1,6 @@
 /*
-	AP_GPS_MTK.cpp - Ublox GPS library for Arduino
-	Code by Jordi MuÒoz and Jose Julio. DIYDrones.com
+	GPS_MTK.cpp - Ublox GPS library for Arduino
+	Code by Jordi Munoz and Jose Julio. DIYDrones.com
 	This code works with boards based on ATMega168 / 328 and ATMega1280 (Serial port 1)
 
 	This library is free software; you can redistribute it and / or
@@ -28,6 +28,7 @@
 */
 
 #include "AP_GPS_MTK.h"
+#include "WProgram.h"
 
 // Constructors ////////////////////////////////////////////////////////////////
 AP_GPS_MTK::AP_GPS_MTK()
@@ -38,6 +39,8 @@ AP_GPS_MTK::AP_GPS_MTK()
 // Public Methods //////////////////////////////////////////////////////////////
 void AP_GPS_MTK::init(void)
 {
+	Serial.print("$PGCMD,16,0,0,0,0,0*6A\r\n");
+	
 	ck_a 		= 0;
 	ck_b 		= 0;
 	step 		= 0;
@@ -146,15 +149,15 @@ AP_GPS_MTK::parse_gps(void)
 			//Checking the UBX ID
 			case 0x05: // ID Custom
 				j = 0;
-				lattitude= join_4_bytes(&buffer[j]); // lon * 10000000
+				lattitude= join_4_bytes(&buffer[j]) * 10; // lon * 10000000
 				j += 4;
-				longitude = join_4_bytes(&buffer[j]); // lat * 10000000
+				longitude = join_4_bytes(&buffer[j]) * 10; // lat * 10000000
 				j += 4;
 				altitude = join_4_bytes(&buffer[j]);	// MSL
 				j += 4;
 				speed_3d = ground_speed = join_4_bytes(&buffer[j]);
 				j += 4;
-				ground_course = join_4_bytes(&buffer[j]);
+				ground_course = join_4_bytes(&buffer[j]) / 10000;
 				j += 4;
 				num_sats = buffer[j];
 				j++;

libraries/AP_GPS/AP_GPS_MTK.h

@@ -1,10 +1,10 @@
 #ifndef AP_GPS_MTK_h
 #define AP_GPS_MTK_h
 
-#include <AP_GPS.h>
+#include <GPS.h>
 #define MAXPAYLOAD 32
 
-class AP_GPS_MTK : public AP_GPS
+class AP_GPS_MTK : public GPS
 {
   public:
     // Methods

libraries/AP_GPS/AP_GPS_NMEA.cpp

@@ -37,6 +37,7 @@
 	 NOTE : This code has been tested on a Locosys 20031 GPS receiver (MTK chipset)
 */
 #include "AP_GPS_NMEA.h"
+#include "WProgram.h"
 
 // Constructors ////////////////////////////////////////////////////////////////
 AP_GPS_NMEA::AP_GPS_NMEA()

libraries/AP_GPS/AP_GPS_NMEA.h

@@ -1,10 +1,10 @@
 #ifndef AP_GPS_NMEA_h
 #define AP_GPS_NMEA_h
 
-#include "AP_GPS.h"
+#include <GPS.h>
 #define GPS_BUFFERSIZE 120 
 
-class AP_GPS_NMEA : public AP_GPS
+class AP_GPS_NMEA : public GPS
 {
   public:
     // Methods
@@ -30,6 +30,4 @@ class AP_GPS_NMEA : public AP_GPS
 
 };
 
-extern AP_GPS_NMEA GPS;
-
 #endif

libraries/AP_GPS/AP_GPS_UBLOX.cpp

@@ -1,5 +1,5 @@
 /*
-	AP_GPS_UBLOX.cpp - Ublox GPS library for Arduino
+	GPS_UBLOX.cpp - Ublox GPS library for Arduino
 	Code by Jordi Muñoz and Jose Julio. DIYDrones.com
 	This code works with boards based on ATMega168/328 and ATMega1280 (Serial port 1)
 
@@ -34,6 +34,7 @@
 */
 
 #include "AP_GPS_UBLOX.h"
+#include "WProgram.h"
 
 // Constructors ////////////////////////////////////////////////////////////////
 AP_GPS_UBLOX::AP_GPS_UBLOX()

libraries/AP_GPS/AP_GPS_UBLOX.h

@@ -1,10 +1,10 @@
-#ifndef GPS_UBLOX_h
-#define GPS_UBLOX_h
+#ifndef AP_GPS_UBLOX_h
+#define AP_GPS_UBLOX_h
 
-#include <AP_GPS.h>
+#include <GPS.h>
 #define MAXPAYLOAD 60
 
-class AP_GPS_UBLOX : public AP_GPS
+class AP_GPS_UBLOX : public GPS
 {
   public:
     // Methods