境界チェック不具合修正，UBX特化の座標コンストラクタ廃止，パケット実装の拡充と修正

[yubeshi/yubeshi.git] / Yubeshi / Ubx / NavVelNed.cs

diff --git a/Yubeshi/Ubx/NavVelNed.cs b/Yubeshi/Ubx/NavVelNed.cs
index 12d1c87..335f81c 100755 (executable)
--- a/Yubeshi/Ubx/NavVelNed.cs
+++ b/Yubeshi/Ubx/NavVelNed.cs
@@ -39,7 +39,7 @@ namespace Yubeshi.Ubx
                 int n = BitConverter.ToInt32(Raw, 6 + 4);\r
                 int e = BitConverter.ToInt32(Raw, 6 + 8);\r
                 int d = -BitConverter.ToInt32(Raw, 6 + 12);\r
-                return new EnuVelocity(e, n, -d);\r
+                return new EnuVelocity(e * 0.01, n * 0.01, -d * 0.01);\r
             }\r
         }\r
 \r
@@ -47,20 +47,40 @@ namespace Yubeshi.Ubx
         {\r
             get\r
             {\r
-                return BitConverter.ToUInt32(Raw, 6 + 16);\r
+                return BitConverter.ToUInt32(Raw, 6 + 16) * 0.01;\r
             }\r
         }\r
 \r
         public double GroundSpeed\r
         {\r
-            get;\r
-            private set;\r
+            get\r
+            {\r
+                return BitConverter.ToUInt32(Raw, 6 + 20) * 0.01;\r
+            }\r
         }\r
 \r
         public Degree Heading\r
         {\r
-            get;\r
-            private set;\r
+            get\r
+            {\r
+                return BitConverter.ToInt32(Raw, 6 + 24) * 1e-5;\r
+            }\r
+        }\r
+\r
+        public double SpeedAccuracy\r
+        {\r
+            get\r
+            {\r
+                return BitConverter.ToUInt32(Raw, 6 + 28) * 0.01;\r
+            }\r
+        }\r
+\r
+        public Degree HeadingAccuracy\r
+        {\r
+            get\r
+            {\r
+                return BitConverter.ToUInt32(Raw, 6 + 32) * 1e-5;\r
+            }\r
         }\r
 \r
         #endregion\r