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Flag for downlink at 1Hz

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This commit is contained in:
Pascal Brisset
2008-02-05 02:43:34 +00:00
parent 840c822dfb
commit 01606570fc
1 changed files with 11 additions and 4 deletions
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sw/airborne/gps.c
+11 -4
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@@ -47,7 +47,14 @@ uint16_t last_gps_msg_t; /** cputime of the last gps message */
bool_t gps_verbose_downlink;
void gps_downlink( void ) {
DOWNLINK_SEND_GPS(&gps_mode, &gps_utm_east, &gps_utm_north, &gps_course, &gps_alt, &gps_gspeed,&gps_climb, &gps_itow, &gps_utm_zone, &gps_nb_ovrn);
static uint8_t _4Hz;
_4Hz++; if (_4Hz > 3) _4Hz = 0;
#if defined DOWNLINK_GPS_1Hz
if (_4Hz == 0)
#endif
DOWNLINK_SEND_GPS(&gps_mode, &gps_utm_east, &gps_utm_north, &gps_course, &gps_alt, &gps_gspeed,&gps_climb, &gps_itow, &gps_utm_zone, &gps_nb_ovrn);
static uint8_t i;
if (i == gps_nb_channels) i = 0;
@@ -58,9 +65,9 @@ void gps_downlink( void ) {
if (gps_verbose_downlink) {
uint8_t j;
for(j = 0; j < gps_nb_channels; j++) {
uint8_t cno = gps_svinfos[j].cno;
if (cno > 0 && j != i && abs(cno-last_cnos[j]) >= 3)
DOWNLINK_SEND_SVINFO(&j, &gps_svinfos[j].svid, &gps_svinfos[j].flags, &gps_svinfos[j].qi, &cno, &gps_svinfos[j].elev, &gps_svinfos[j].azim);
uint8_t cno = gps_svinfos[j].cno;
if (cno > 0 && j != i && abs(cno-last_cnos[j]) >= 3)
DOWNLINK_SEND_SVINFO(&j, &gps_svinfos[j].svid, &gps_svinfos[j].flags, &gps_svinfos[j].qi, &cno, &gps_svinfos[j].elev, &gps_svinfos[j].azim);
}
}
i++;