static void msg_CS1(uint8_t gpschar)
{
checksum._.B0 = gpschar;
if ((checksum._.B1 == CK_A) && (checksum._.B0 == CK_B))
{
if (msg_id == 0x12)
{
// correct checksum for VELNED message
gps_parse_common(); // parsing is complete, schedule navigation
}
#if (HILSIM == 1)
else if (msg_id == 0xAB)
{
// If we got the correct checksum for bodyrates, commit that data immediately
commit_bodyrate_data();
}
else if (msg_id == 0xAC)
{
// If we got the correct checksum for keystroke, commit that data immediately
commit_keystroke_data();
}
#endif
}
else
{
gps_data_age = GPS_DATA_MAX_AGE+1; // if the checksum is wrong then the data from this packet is invalid.
// setting this ensures the nav routine does not try to use this data.
}
msg_parse = &msg_B3;
}
static void msg_CS1(uint8_t gpschar)
{
checksum._.B0 = gpschar;
if ((checksum._.B1 == CK_A) && (checksum._.B0 == CK_B))
{
// correct checksum for DATA message
gps_parse_common(); // parsing is complete, schedule navigation
}
else
{
gps_data_age = GPS_DATA_MAX_AGE+1; // if the checksum is wrong then the data from this packet is invalid.
// setting this ensures the nav routine does not try to use this data.
}
msg_parse = &msg_start;
}
