Page 246 - Build Your Own Quadcopter_ Power Up Your Designs with the Parallax Elev-8

Chapter 8: GPS and a Real- T ime Situational Displa y 225

repeat
xb1.Str(String(16, 1))

FS.SetPrecision(7)
fv := GPS.Float_Latitude_Deg ‘ Get latitude
If fv <> floatNaN
xb1.Str(FS.FloatToString(fv))
Else
xb1.Str(String(“---”))

xb1.Str(String(“ “))
fv := GPS.Float_Longitude_Deg ‘ Get longitude
If fv <> floatNaN
xb1.Str(FS.FloatToString(fv))
Else
xb1.Str(String(“---”))

xb1.Str(String(“ “))
fv := GPS.Float_Speed_Over_Ground ‘ Get speed
If fv <> floatNaN
xb1.Str(FS.FloatToString(fv))
Else
xb1.Str(String(“---”))

xb1.Str(String(“ “))
fv := GPS.Float_Altitude_Above_MSL ‘ Get altitude
If fv <> floatNaN
xb1.Str(FS.FloatToString(fv))
Else
xb1.Str(String(“---”))

xb1.tx(13)
WaitCnt(ClkFreq / 2 + ClkFreq / 4 + Cnt)

DAT
floatNaN LONG $7FFF_FFFF ‘ Means Not a Number

Mounting the Transmitter XBee Node
Figure 8.29 shows the front of the XBee transmitter node assembly. I wanted to use the XBee
SIP-mounting adapter but did not want to mount it vertically in a solderless breadboard.
I was concerned about the quadcopter vibrations shaking loose the somewhat top-heavy
XBee assembly. After a bit of thought, I came up with the configuration that you see in the
figure, where the SIP assembly is still plugged into a breadboard. However, the breadboard
itself is attached by foam-backed, double-sided tape to another breadboard that holds the
Mini. I also put a hidden spacer between the SIP adapter and the horizontal breadboard to