From: kimikage <kimikage_ceo@hotmail.com>
Date: Thu, 7 Jun 2012 11:21:40 +0000 (+0900)
Subject: Heightへの対応，緯度・経度が反転していた不具合の修正
X-Git-Url: http://git.osdn.net/view?p=yubeshi%2Fyubeshi.git;a=commitdiff_plain;h=ae4a500efc77e538a409f112c19fe3d83dc58bb8

Heightへの対応，緯度・経度が反転していた不具合の修正
---

diff --git a/Yubeshi/Ubx/NavPosLlh.cs b/Yubeshi/Ubx/NavPosLlh.cs
index e6f5a7a..96af3fa 100755
--- a/Yubeshi/Ubx/NavPosLlh.cs
+++ b/Yubeshi/Ubx/NavPosLlh.cs
@@ -38,16 +38,21 @@ namespace Yubeshi.Ubx
             {
                 Degree lon = BitConverter.ToInt32(Raw, 6 + 4) * 1e-7;
                 Degree lat = BitConverter.ToInt32(Raw, 6 + 8) * 1e-7;
-                double h = BitConverter.ToUInt32(Raw, 6 + 12);
-                return new GeodeticCoordinate(lon, lat, h);
+                Height h = new Height(
+                                    BitConverter.ToUInt32(Raw, 6 + 12) * 1e-3, 
+                                    Height.Base.Ellipsoid);
+                return new GeodeticCoordinate(lat, lon, h);
             }
         }
 
-        public double MslHeight
+        public Height MslHeight
         {
             get
             {
-                return BitConverter.ToUInt32(Raw, 6 + 16);
+                Height h = new Height(
+                                    BitConverter.ToUInt32(Raw, 6 + 16) * 1e-3,
+                                    Height.Base.MeanSeaLevel);
+                return h;
             }
         }
 
diff --git a/YubeshiTest/UbxTest/NavPacketTest.cs b/YubeshiTest/UbxTest/NavPacketTest.cs
index 333ab8e..65264a0 100755
--- a/YubeshiTest/UbxTest/NavPacketTest.cs
+++ b/YubeshiTest/UbxTest/NavPacketTest.cs
@@ -51,6 +51,23 @@ namespace YubeshiTest.UbxTest
         }
 
         [Test]
+        public void NavPosLlhTest()
+        {
+            UnknownPacket packet;
+            Assert.IsTrue(NavPosLlh.TryParse(P.NavPosLlh, out packet));
+            NavPosLlh p = packet as NavPosLlh;
+            Assert.AreEqual(Packet.MessageID.NavPosLlh, p.ID);
+            Assert.AreEqual(timeOfWeek, p.TimeOfWeek);
+            Assert.AreEqual(35.710058, (double)p.Position.Latitude);
+            Assert.AreEqual(139.8107190, (double)p.Position.Longitude);
+            Assert.AreEqual(676.391, (double)p.Position.Altitude);
+            Assert.AreEqual(Height.Base.Ellipsoid, 
+                                                p.Position.Altitude.BaseLevel);
+            Assert.AreEqual(640.0, (double)p.MslHeight);
+            Assert.AreEqual(Height.Base.MeanSeaLevel, p.MslHeight.BaseLevel);
+        }
+
+        [Test]
         public void NavSolTest()
         {
             UnknownPacket packet;
diff --git a/YubeshiTest/UbxTest/SamplePackets.cs b/YubeshiTest/UbxTest/SamplePackets.cs
index ce482da..928c70e 100755
--- a/YubeshiTest/UbxTest/SamplePackets.cs
+++ b/YubeshiTest/UbxTest/SamplePackets.cs
@@ -25,6 +25,7 @@ namespace YubeshiTest.UbxTest
         public static readonly byte[] NavClock;
         public static readonly byte[] NavDop;
         public static readonly byte[] NavPosEcef;
+        public static readonly byte[] NavPosLlh;
         public static readonly byte[] NavSol;
 
 
@@ -122,6 +123,18 @@ namespace YubeshiTest.UbxTest
                 0xFF, 0xFF
             };
 
+            NavPosLlh = new byte[]{
+                0xB5, 0x62, 0x01, 0x02, 0x1C, 0x00,
+                0xE5, 0x16, 0x3F, 0x0A, // tow
+                0x36, 0x6C, 0x55, 0x53, // lon
+                0x24, 0xEC, 0x48, 0x15, // lat 
+                0x27, 0x52, 0x0A, 0x00, // height
+                0x00, 0xC4, 0x09, 0x00, // hMSL 
+                0x6D, 0x14, 0x00, 0x00, // hAcc
+                0x6D, 0x14, 0x00, 0x00, // vAcc
+                0xFF, 0xFF
+            };
+
             NavSol = new byte[]{
                 0xB5, 0x62, 0x01, 0x06, 0x34, 0x00,
                 0xE5, 0x16, 0x3F, 0x0A, // tow