+
+ while (!cmdline_keypressed()) {
+ IRQ_LOCK(irq_flags);
+ memcpy(&imu, &imuboard_status, sizeof(imu));
+ IRQ_UNLOCK(irq_flags);
+
+ if (imu.flags & IMUBOARD_STATUS_GPS_OK) {
+ printf_P(PSTR("GPS lat=%"PRIi32" long=%"PRIi32
+ " alt=%"PRIi32"\n"),
+ imu.latitude, imu.longitude, imu.altitude);
+ }
+ else
+ printf_P(PSTR("GPS unavailable"));
+ i2c_protocol_debug();
+ wait_ms(100);
+ }