Mirrors_Framework/PX4-Autopilot
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Add some GPS data to telemetry message.

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This commit is contained in:
Simon Wilks
2013-05-01 21:30:11 +02:00
parent a2adff9663
commit 5ebd78345c
3 changed files with 41 additions and 16 deletions
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apps/hott_telemetry/hott_telemetry_main.c
+5 -1
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@@ -225,7 +225,11 @@ hott_telemetry_thread_main(int argc, char *argv[])
while (!thread_should_exit) {
if (recv_req_id(uart, &id) == OK) {
switch (id) {
case ELECTRIC_AIR_MODULE:
case EAM_SENSOR_ID:
build_eam_response(buffer, &size);
break;
case GPS_SENSOR_ID:
build_eam_response(buffer, &size);
break;
apps/hott_telemetry/messages.c
+21 -2
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@@ -44,17 +44,20 @@
#include <unistd.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_gps_position.h>
/* The board is very roughly 5 deg warmer than the surrounding air */
#define BOARD_TEMP_OFFSET_DEG 5
static int battery_sub = -1;
static int gps_sub = -1;
static int sensor_sub = -1;
void
messages_init(void)
{
battery_sub = orb_subscribe(ORB_ID(battery_status));
gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
}
@@ -101,14 +104,30 @@ build_gps_response(uint8_t *buffer, size_t *size)
struct sensor_combined_s raw = { 0 };
orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw);
/* get a local copy of the battery data */
struct vehicle_gps_position_s gps = { 0 };
orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps);
struct gps_module_msg msg = { 0 };
*size = sizeof(msg);
msg.start = START_BYTE;
msg.eam_sensor_id = GPS_SENSOR_ID;
msg.sensor_id = GPS_SENSOR_TEXT_ID;
msg.sensor_id = GPS_SENSOR_ID;
msg.sensor_text_id = GPS_SENSOR_TEXT_ID;
uint16_t speed = (uint16_t)(gps.vel_m_s * 3.6);
msg.gps_speed_L = (uint8_t)speed & 0xff;
msg.gps_speed_H = (uint8_t)(speed >> 8) & 0xff;
uint16_t alt = (uint16_t)(gps.alt);
msg.altitude_L = (uint8_t)alt & 0xff;
msg.altitude_H = (uint8_t)(alt >> 8) & 0xff;
msg.gps_num_sat = gps.satellites_visible;
/* Display the fix type: 0 = none, 2 = 2D, 3 = 3D */
msg.gps_fix = (uint8_t)(gps.fix_type + 48);
// TODO(sjwilks): Complete.
msg.stop = STOP_BYTE;
apps/hott_telemetry/messages.h
+15 -13
View File
@@ -123,13 +123,15 @@ struct eam_module_msg {
#define GPS_SENSOR_ID 0x8A
#define GPS_SENSOR_TEXT_ID 0xA0
/* The GPS sensor message */
/* Struct based on: https://code.google.com/p/diy-hott-gps/downloads */
struct gps_module_msg = {
/**
* The GPS sensor message
* Struct based on: https://code.google.com/p/diy-hott-gps/downloads
*/
struct gps_module_msg {
uint8_t start; /**< Start byte */
uint8_t gps_sensor_id; /**< EAM sensor */
uint8_t sensor_id; /**< GPS sensor ID*/
uint8_t warning; /**< Byte 3: 0…= warning beeps */
uint8_t sensor_id; /**< Sensor ID, why different? */
uint8_t sensor_text_id; /**< GPS Sensor text mode ID */
uint8_t alarm_inverse1; /**< Byte 5: 01 inverse status */
uint8_t alarm_inverse2; /**< Byte 6: 00 inverse status status 1 = no GPS Signal */
uint8_t flight_direction; /**< Byte 7: 119 = Flightdir./dir. 1 = 2°; 0° (North), 9 0° (East), 180° (South), 270° (West) */
@@ -143,16 +145,16 @@ struct gps_module_msg = {
uint8_t latitude_sec_H; /**< Byte 14: 016 3 = 0x03 */
uint8_t longitude_ew; /**< Byte 15: 000 = E= 9° 25’9360 */
uint8_t longitude_in_L; /**< Byte 16: 150 157 = 0x9D = 0x039D = 0925 */
uint8_t longitude_min_L; /**< Byte 16: 150 157 = 0x9D = 0x039D = 0925 */
uint8_t longitude_min_H; /**< Byte 17: 003 3 = 0x03 */
uint8_t longitude_sec_L /**< Byte 18: 056 144 = 0x90 0x2490 = 9360*/
uint8_t longitude_sec_L; /**< Byte 18: 056 144 = 0x90 0x2490 = 9360*/
uint8_t longitude_sec_H; /**< Byte 19: 004 36 = 0x24 */
uint8_t distance_L /**< Byte 20: 027 123 = /distance low byte 6 = 6 m */
uint8_t distance_L; /**< Byte 20: 027 123 = /distance low byte 6 = 6 m */
uint8_t distance_H; /**< Byte 21: 036 35 = /distance high byte */
uint8_t altitude_L /**< Byte 22: 243 244 = /Altitude low byte 500 = 0m */
uint8_t altitude_L; /**< Byte 22: 243 244 = /Altitude low byte 500 = 0m */
uint8_t altitude_H; /**< Byte 23: 001 1 = /Altitude high byte */
uint8_t resolution_L /**< Byte 24: 48 = Low Byte m/s resolution 0.01m 48 = 30000 = 0.00m/s (1=0.01m/s) */
uint8_t resolution_L; /**< Byte 24: 48 = Low Byte m/s resolution 0.01m 48 = 30000 = 0.00m/s (1=0.01m/s) */
uint8_t resolution_H; /**< Byte 25: 117 = High Byte m/s resolution 0.01m */
uint8_t unknown1; /**< Byte 26: 120 = 0m/3s */
uint8_t gps_num_sat; /**< Byte 27: GPS.Satellites (number of satelites) (1 byte) */
@@ -161,11 +163,11 @@ struct gps_module_msg = {
uint8_t angle_x_direction; /**< Byte 30: angle x-direction (1 byte) */
uint8_t angle_y_direction; /**< Byte 31: angle y-direction (1 byte) */
uint8_t angle_z_direction; /**< Byte 32: angle z-direction (1 byte) */
uint8_t gyro_x_L /**< Byte 33: gyro x low byte (2 bytes) */
uint8_t gyro_x_L; /**< Byte 33: gyro x low byte (2 bytes) */
uint8_t gyro_x_H; /**< Byte 34: gyro x high byte */
uint8_t gyro_y_L /**< Byte 35: gyro y low byte (2 bytes) */
uint8_t gyro_y_L; /**< Byte 35: gyro y low byte (2 bytes) */
uint8_t gyro_y_H; /**< Byte 36: gyro y high byte */
uint8_t gyro_z_L /**< Byte 37: gyro z low byte (2 bytes) */
uint8_t gyro_z_L; /**< Byte 37: gyro z low byte (2 bytes) */
uint8_t gyro_z_H; /**< Byte 38: gyro z high byte */
uint8_t vibration; /**< Byte 39: vibration (1 bytes) */
uint8_t ascii4; /**< Byte 40: 00 ASCII Free Character [4] */