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added ublox specific status and sol flags

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This commit is contained in:
Felix Ruess
2011-04-27 15:50:58 +02:00
parent e036f01fd1
commit 0e15a116ce
4 changed files with 23 additions and 9 deletions
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sw/airborne/modules/ins/ins_arduimu.c
+6 -3
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@@ -14,6 +14,9 @@ Autoren@ZHAW: schmiemi
#include "estimator.h" #include "estimator.h"
// für das Senden von GPS-Daten an den ArduIMU // für das Senden von GPS-Daten an den ArduIMU
#ifndef UBX
#error "currently only compatible with uBlox GPS modules"
#endif
#include "subsystems/gps.h" #include "subsystems/gps.h"
int32_t GPS_Data[14]; int32_t GPS_Data[14];
@@ -87,11 +90,11 @@ void ArduIMU_periodicGPS( void ) {
GPS_Data [6] = gps.gspeed; //ground speed GPS_Data [6] = gps.gspeed; //ground speed
GPS_Data [7] = DegOfRad(gps.course / 1e6); //Kurs GPS_Data [7] = DegOfRad(gps.course / 1e6); //Kurs
//status //status
GPS_Data [8] = gps_mode; //fix GPS_Data [8] = gps.fix; //fix
GPS_Data [9] = gps_status_flags; //flags GPS_Data [9] = gps_ubx.status_flags; //flags
//sol //sol
GPS_Data [10] = gps.fix; //fix 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 [12] = -gps.ned_vel.z;
GPS_Data [13] = gps.num_sv; GPS_Data [13] = gps.num_sv;
sw/airborne/modules/ins/ins_arduimu_basic.c
+9 -6
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@@ -14,7 +14,10 @@ Autoren@ZHAW: schmiemi
#include "estimator.h" #include "estimator.h"
// GPS data for ArduIMU // 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 // Command vector for thrust
#include "generated/airframe.h" #include "generated/airframe.h"
@@ -90,11 +93,11 @@ void ArduIMU_periodicGPS( void ) {
high_accel_flag = FALSE; high_accel_flag = FALSE;
} }
FillBufWith32bit(ardu_gps_trans.buf, 0, (int32_t)gps_speed_3d); // speed 3D 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, 4, (int32_t)gps.gspeed); // ground speed
FillBufWith32bit(ardu_gps_trans.buf, 8, (int32_t)gps_course); // course FillBufWith32bit(ardu_gps_trans.buf, 8, (int32_t)DegOfRad(gps.course / 1e6)); // course
ardu_gps_trans.buf[12] = gps_mode; // status gps fix ardu_gps_trans.buf[12] = gps.fix; // status gps fix
ardu_gps_trans.buf[13] = gps_status_flags; // status flags 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) 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); I2CTransmit(ARDUIMU_I2C_DEV, ardu_gps_trans, ArduIMU_SLAVE_ADDR, 15);
sw/airborne/subsystems/gps/gps_ubx.c
+5
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@@ -179,6 +179,11 @@ void gps_ubx_read_message(void) {
gps.svinfos[i].azim = UBX_NAV_SVINFO_Azim(gps_ubx.msg_buf, i); 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
+3
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@@ -48,6 +48,9 @@ struct GpsUbx {
uint8_t send_ck_a, send_ck_b; uint8_t send_ck_a, send_ck_b;
uint8_t error_cnt; uint8_t error_cnt;
uint8_t error_last; uint8_t error_last;
uint8_t status_flags;
uint8_t sol_flags;
}; };
extern struct GpsUbx gps_ubx; extern struct GpsUbx gps_ubx;