Exemplo n.º 1
0
        /// <summary>
        /// Sends a differential gps correction factor packet
        /// </summary>
        /// <param name="gpsc">a filled GPSCorrection struct</param>
        public void SendGPSCorrectionFactor(GPSCorrection gpsc)
        {
            /*
            GPS Correction Factor
            0x46	Command type “Flight Ops”
            0x43	Command “GPS Correction Factor”

            0xSSSS	Latitude seconds correction (-3000 to 3000) in thousandths of seconds.

            0xSSSS	Longitude seconds correction (-3000 to 3000) in thousandths of seconds.

            0xAAAA	Altitude correction in 10ths of meters.

            0xHHMMSS	Time of GPS fix

             */

            if (ExpectedResponse.ResponseExpected == false)
            {
                OutGoingPacket = new byte[18];
                OutGoingPacket[0] = 0xA5;//header
                OutGoingPacket[1] = 0x5A;
                OutGoingPacket[2] = 0x0B;//number of bytes
                OutGoingPacket[3] = 0x46;//flight ops command
                OutGoingPacket[4] = 0x43;
                OutGoingPacket[5] = (byte)((gpsc.LatMinutes & 0xFF00) >> 8);//upper lat seconds byte
                OutGoingPacket[6] = (byte)(gpsc.LatMinutes & 0x00FF);
                OutGoingPacket[7] = (byte)((gpsc.LongMinutes & 0xFF00) >> 8);//upper long seconds byte
                OutGoingPacket[8] = (byte)(gpsc.LongMinutes & 0x00FF);
                OutGoingPacket[9] = (byte)((gpsc.Altitude & 0xFF00) >> 8);//upper altitude byte
                OutGoingPacket[10] = (byte)(gpsc.Altitude & 0x00FF);
                OutGoingPacket[11] = (byte)gpsc.Time.Hour;
                OutGoingPacket[12] = (byte)gpsc.Time.Minute;
                OutGoingPacket[13] = (byte)gpsc.Time.Second;
                ushort checksum = 0;
                for (int i = 2; i < 14; i++)
                {
                    checksum += OutGoingPacket[i];
                }
                OutGoingPacket[14] = (byte)((checksum & 0xFF00) >> 8);
                OutGoingPacket[15] = (byte)(checksum & 0x00FF);
                OutGoingPacket[16] = 0xCC;
                OutGoingPacket[17] = 0x33;
                SendPacket("GPS Correction Factor", ExpectedResponses.type.FullPacketResponse);

            }
        }
Exemplo n.º 2
0
        void GPSP_GPSStringReceived(object sender, GPSParser.GPSStringReceivedEventArgs e)
        {
            if (e.data.Long.Degrees != 0 && e.data.Lat.Degrees != 0)
            {
                Lon = e.data.Long;
                Lat = e.data.Lat;

                if (GoogleMapCtrl.BaseStationSet)
                {
                    RequestInfoTimer.Enabled = false;

                    double Longitude = -(Lon.Degrees + ((Lon.Minutes + (Lon.FractionalMinutes / 10000.0)) / 60.0));
                    double Latitude = Lat.Degrees + ((Lat.Minutes + (Lat.FractionalMinutes / 10000.0)) / 60.0);
                    GoogleMapCtrl.SetMarkerAtLoc(Latitude, Longitude);
                    double LatCorrection = 0;//GoogleMapCtrl.BaseStation.latitude - Latitude;
                    double LongCorrection = 0;//GoogleMapCtrl.BaseStation.longitude - Longitude;

                    GPSCorrection gpsc = new GPSCorrection();
                    if (AltitudeSamples < 10)
                    {
                        gpsc.Altitude = 0;//zero correction until we have enough base station samples
                        BaseStationAltitude += e.data.Altitude;
                        AltitudeSamples++;

                    }
                    if (AltitudeSamples == 10)
                    {
                        gpsc.Altitude = 0;//zero correction until we have enough base station samples
                        AltitudeSamples = 11;
                        BaseStationAltitude = BaseStationAltitude / 10.0;
                    }

                    if (AltitudeSamples == 11)
                    {
                        gpsc.Altitude = Convert.ToInt16((e.data.Altitude * 10) - (BaseStationAltitude * 10));
                        txtAltitudeCorrection.Text = gpsc.Altitude.ToString();
                    }
                    gpsc.Time = new DateTime();
                    gpsc.Time.AddSeconds(e.data.GPSDateTime.Second);

                    gpsc.LatMinutes = (short)(LatCorrection * 60.0 * 10000.0);
                    gpsc.LongMinutes = (short)-(LongCorrection * 60.0 * 10000.0);

                    txtLatCorrection.Text = gpsc.LatMinutes.ToString();
                    txtLongCorrection.Text = gpsc.LongMinutes.ToString();

                    if (ComProt != null)
                    {
                        int timeout = 0;
                        while (ComProt.ExpectedResponse.ResponseExpected)
                        {
                            if (timeout > 1000)
                            {
                                break;
                            }
                            timeout++;
                        }
                        ComProt.SendGPSCorrectionFactor(gpsc);

                        RequestInfoTimer.Enabled = true;
                    }
                }
            }
        }