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Yubeshi GPS Parser
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source codes and tests

Heightへの対応，緯度・経度が反転していた不具合の修正

--- a/Yubeshi/Ubx/NavPosLlh.cs

+++ b/Yubeshi/Ubx/NavPosLlh.cs

		@@ -38,16 +38,21 @@ namespace Yubeshi.Ubx
38	38	{
39	39	Degree lon = BitConverter.ToInt32(Raw, 6 + 4) * 1e-7;
40	40	Degree lat = BitConverter.ToInt32(Raw, 6 + 8) * 1e-7;
41		- double h = BitConverter.ToUInt32(Raw, 6 + 12);
42		- return new GeodeticCoordinate(lon, lat, h);
	41	+ Height h = new Height(
	42	+ BitConverter.ToUInt32(Raw, 6 + 12) * 1e-3,
	43	+ Height.Base.Ellipsoid);
	44	+ return new GeodeticCoordinate(lat, lon, h);
43	45	}
44	46	}
45	47
46		- public double MslHeight
	48	+ public Height MslHeight
47	49	{
48	50	get
49	51	{
50		- return BitConverter.ToUInt32(Raw, 6 + 16);
	52	+ Height h = new Height(
	53	+ BitConverter.ToUInt32(Raw, 6 + 16) * 1e-3,
	54	+ Height.Base.MeanSeaLevel);
	55	+ return h;
51	56	}
52	57	}
53	58

--- a/YubeshiTest/UbxTest/NavPacketTest.cs

+++ b/YubeshiTest/UbxTest/NavPacketTest.cs

		@@ -51,6 +51,23 @@ namespace YubeshiTest.UbxTest
51	51	}
52	52
53	53	[Test]
	54	+ public void NavPosLlhTest()
	55	+ {
	56	+ UnknownPacket packet;
	57	+ Assert.IsTrue(NavPosLlh.TryParse(P.NavPosLlh, out packet));
	58	+ NavPosLlh p = packet as NavPosLlh;
	59	+ Assert.AreEqual(Packet.MessageID.NavPosLlh, p.ID);
	60	+ Assert.AreEqual(timeOfWeek, p.TimeOfWeek);
	61	+ Assert.AreEqual(35.710058, (double)p.Position.Latitude);
	62	+ Assert.AreEqual(139.8107190, (double)p.Position.Longitude);
	63	+ Assert.AreEqual(676.391, (double)p.Position.Altitude);
	64	+ Assert.AreEqual(Height.Base.Ellipsoid,
	65	+ p.Position.Altitude.BaseLevel);
	66	+ Assert.AreEqual(640.0, (double)p.MslHeight);
	67	+ Assert.AreEqual(Height.Base.MeanSeaLevel, p.MslHeight.BaseLevel);
	68	+ }
	69	+
	70	+ [Test]
54	71	public void NavSolTest()
55	72	{
56	73	UnknownPacket packet;

--- a/YubeshiTest/UbxTest/SamplePackets.cs

+++ b/YubeshiTest/UbxTest/SamplePackets.cs

		@@ -25,6 +25,7 @@ namespace YubeshiTest.UbxTest
25	25	public static readonly byte[] NavClock;
26	26	public static readonly byte[] NavDop;
27	27	public static readonly byte[] NavPosEcef;
	28	+ public static readonly byte[] NavPosLlh;
28	29	public static readonly byte[] NavSol;
29	30
30	31

		@@ -122,6 +123,18 @@ namespace YubeshiTest.UbxTest
122	123	0xFF, 0xFF
123	124	};
124	125
	126	+ NavPosLlh = new byte[]{
	127	+ 0xB5, 0x62, 0x01, 0x02, 0x1C, 0x00,
	128	+ 0xE5, 0x16, 0x3F, 0x0A, // tow
	129	+ 0x36, 0x6C, 0x55, 0x53, // lon
	130	+ 0x24, 0xEC, 0x48, 0x15, // lat
	131	+ 0x27, 0x52, 0x0A, 0x00, // height
	132	+ 0x00, 0xC4, 0x09, 0x00, // hMSL
	133	+ 0x6D, 0x14, 0x00, 0x00, // hAcc
	134	+ 0x6D, 0x14, 0x00, 0x00, // vAcc
	135	+ 0xFF, 0xFF
	136	+ };
	137	+
125	138	NavSol = new byte[]{
126	139	0xB5, 0x62, 0x01, 0x06, 0x34, 0x00,
127	140	0xE5, 0x16, 0x3F, 0x0A, // tow