added ublox specific status and sol flags

sw/airborne/modules/ins/ins_arduimu.c

@@ -14,6 +14,9 @@ Autoren@ZHAW:   schmiemi
 #include "estimator.h"
 
 // für das Senden von GPS-Daten an den ArduIMU
+#ifndef UBX
+#error "currently only compatible with uBlox GPS modules"
+#endif
 #include "subsystems/gps.h"
 int32_t GPS_Data[14];
 
@@ -87,11 +90,11 @@ void ArduIMU_periodicGPS( void ) {
         GPS_Data [6] = gps.gspeed;		//ground speed
         GPS_Data [7] = DegOfRad(gps.course / 1e6);	//Kurs
         //status
-        GPS_Data [8] = gps_mode;		//fix
-        GPS_Data [9] = gps_status_flags;	//flags
+        GPS_Data [8] = gps.fix;		//fix
+        GPS_Data [9] = gps_ubx.status_flags;	//flags
         //sol
         GPS_Data [10] = gps.fix;		//fix
-        //GPS_Data [11] = gps_sol_flags;		//flags
+        //GPS_Data [11] = gps_ubx.sol_flags;		//flags
         GPS_Data [12] = -gps.ned_vel.z;
         GPS_Data [13] = gps.num_sv;
 

sw/airborne/modules/ins/ins_arduimu_basic.c

@@ -14,7 +14,10 @@ Autoren@ZHAW:   schmiemi
 #include "estimator.h"
 
 // GPS data for ArduIMU
-#include "gps.h"
+#ifndef UBX
+#error "currently only compatible with uBlox GPS modules"
+#endif
+#include "subsystems/gps.h"
 
 // Command vector for thrust
 #include "generated/airframe.h"
@@ -90,11 +93,11 @@ void ArduIMU_periodicGPS( void ) {
     high_accel_flag = FALSE;
   }
 
-  FillBufWith32bit(ardu_gps_trans.buf, 0, (int32_t)gps_speed_3d); // speed 3D
-  FillBufWith32bit(ardu_gps_trans.buf, 4, (int32_t)gps_gspeed);   // ground speed
-  FillBufWith32bit(ardu_gps_trans.buf, 8, (int32_t)gps_course);   // course
-  ardu_gps_trans.buf[12] = gps_mode;                              // status gps fix
-  ardu_gps_trans.buf[13] = gps_status_flags;                      // status flags
+  FillBufWith32bit(ardu_gps_trans.buf, 0, (int32_t)gps.speed_3d); // speed 3D
+  FillBufWith32bit(ardu_gps_trans.buf, 4, (int32_t)gps.gspeed);   // ground speed
+  FillBufWith32bit(ardu_gps_trans.buf, 8, (int32_t)DegOfRad(gps.course / 1e6));   // course
+  ardu_gps_trans.buf[12] = gps.fix;                              // status gps fix
+  ardu_gps_trans.buf[13] = gps_ubx.status_flags;                      // status flags
   ardu_gps_trans.buf[14] = (uint8_t)high_accel_flag;              // high acceleration flag (disable accelerometers in the arduimu filter)
   I2CTransmit(ARDUIMU_I2C_DEV, ardu_gps_trans, ArduIMU_SLAVE_ADDR, 15);
 

sw/airborne/subsystems/gps/gps_ubx.c

@@ -179,6 +179,11 @@ void gps_ubx_read_message(void) {
         gps.svinfos[i].azim = UBX_NAV_SVINFO_Azim(gps_ubx.msg_buf, i);
       }
     }
+    else if (gps_ubx.msg_id == UBX_NAV_STATUS_ID) {
+      gps.fix = UBX_NAV_STATUS_GPSfix(gps_ubx.msg_buf);
+      gps_ubx.status_flags = UBX_NAV_STATUS_Flags(gps_ubx.msg_buf);
+      gps_ubx.sol_flags = UBX_NAV_SOL_Flags(gps_ubx.msg_buf);
+    }
   }
 }
 

sw/airborne/subsystems/gps/gps_ubx.h

@@ -48,6 +48,9 @@ struct GpsUbx {
   uint8_t send_ck_a, send_ck_b;
   uint8_t error_cnt;
   uint8_t error_last;
+
+  uint8_t status_flags;
+  uint8_t sol_flags;
 };
 
 extern struct GpsUbx gps_ubx;