修改惯导读取方式

CMakeLists.txt

@@ -11,7 +11,7 @@ PROJECT( IVP_EXTEND )
 
 set (CMAKE_CXX_STANDARD 11)
 # Resolved conflict: using relative path for MOOSIVP_SOURCE_TREE_BASE
-set (MOOSIVP_SOURCE_TREE_BASE "/home/zjk/project/lib/moos-ivp")
+# set (MOOSIVP_SOURCE_TREE_BASE "/home/zjk/project/lib/moos-ivp")
 
 #=======================================================================
 # Set the output directories for the binary and library files

src/CMakeLists.txt

@@ -19,7 +19,7 @@ ADD_SUBDIRECTORY(lib_behaviors-test)
 ADD_SUBDIRECTORY(pExampleApp)
 ADD_SUBDIRECTORY(pXRelayTest)
 add_subdirectory(pAUV150)
-add_subdirectory(pMotionControler)
+# add_subdirectory(pMotionControler)
 ##############################################################################
 #                           END of CMakeLists.txt
 ##############################################################################

src/pAUV150/AUV150.cpp

@@ -30,6 +30,32 @@ float parseInt16WithSign(uint16_t value) {
     // 正数
     return value;
 }
+
+/**
+ * @brief 解析大端序的度+分.分格式坐标 (无符号版本)
+ * @param rawValue 原始读取的 uint32_t 数据 (已经过 ntohl 转换，即主机字节序)
+ * @return double 十进制度数
+ */
+double parseInsCoordinate(uint32_t rawValue) {
+    // rawValue 已经通过 ntohl 从大端序转换为主机字节序
+    // 所以不需要再进行字节交换
+    
+    // --- 步骤 2: 分离度和分 ---
+    const uint32_t SCALE_DEG = 1000000; // 10^6
+    const double SCALE_MIN = 10000.0;   // 10^4
+    
+    uint32_t degrees = rawValue / SCALE_DEG;       // 获取整数度
+    uint32_t minRaw = rawValue % SCALE_DEG;        // 获取分的整数部分 (MM.MMMM)
+
+    // --- 步骤 3 & 4: 计算最终度数 ---
+    // 1. 还原分为浮点数 (例如 520630 -> 52.0630)
+    double actualMinutes = static_cast<double>(minRaw) / SCALE_MIN;
+    
+    // 2. 分转度并累加
+    double result = static_cast<double>(degrees) + (actualMinutes / 60.0);
+
+    return result;
+}
 /**
  * @brief 将double编码为uint8，第一位为符号位
  * @param value 要编码的double值
@@ -739,8 +765,8 @@ bool AUV150::updateStatus(FeedbackFrame_150AUV &feedbackFrame)
     m_status.velocityEast = parseInt16WithSign(feedbackFrame.velocityEast)/100.0f;
     m_status.velocityNorth = parseInt16WithSign(feedbackFrame.velocityNorth)/100.0f;
     m_status.velocityDown = parseInt16WithSign(feedbackFrame.velocityDown)/100.0f;
-    m_status.insLongitude = feedbackFrame.insLongitude / 1e6; 
-    m_status.insLatitude = feedbackFrame.insLatitude / 1e6;
+    m_status.insLongitude = parseInsCoordinate(feedbackFrame.insLongitude);
+    m_status.insLatitude = parseInsCoordinate(feedbackFrame.insLatitude);
     m_status.insAltitude = feedbackFrame.insAltitude / 100.0f;
     m_status.dvlVelX = parseInt16WithSign(feedbackFrame.dvlVelX) / 100.0f;
     m_status.dvlVelY = parseInt16WithSign(feedbackFrame.dvlVelY) / 100.0f;

trying123.txt

@@ -1,2 +0,0 @@
-
-hey there