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[xsens] some minor updates for xsens gps

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This commit is contained in:
Felix Ruess
2012-06-05 00:46:33 +02:00
parent 6287018be2
commit 14cc0d41a1
3 changed files with 18 additions and 12 deletions
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sw/airborne/firmwares/fixedwing/ap_downlink.h
+3 -1
View File
@@ -207,8 +207,10 @@
#define PERIODIC_SEND_TUNE_ROLL(_trans, _dev) DOWNLINK_SEND_TUNE_ROLL(_trans, _dev, &estimator_p,&estimator_phi, &h_ctl_roll_setpoint);
#if USE_GPS || USE_GPS_XSENS || defined SITL
#if USE_GPS || defined SITL
#define PERIODIC_SEND_GPS_SOL(_trans, _dev) DOWNLINK_SEND_GPS_SOL(_trans, _dev, &gps.pacc, &gps.sacc, &gps.pdop, &gps.num_sv)
#else
#define PERIODIC_SEND_GPS_SOL(_trans, _dev) {}
#endif
#define PERIODIC_SEND_GPS(_trans, _dev) { \
sw/airborne/modules/ins/ins_xsens.c
+14 -10
View File
@@ -35,7 +35,10 @@
#include "subsystems/datalink/downlink.h"
#include "messages.h"
#if USE_GPS && USE_GPS_XSENS
#if USE_GPS_XSENS
#if !USE_GPS
#error "USE_GPS needs to be 1 to use the Xsens GPS!"
#endif
#include "subsystems/gps.h"
#include "math/pprz_geodetic_wgs84.h"
#include "math/pprz_geodetic_float.h"
@@ -218,9 +221,10 @@ void ins_init( void ) {
xsens_output_settings = XSENS_OUTPUT_SETTINGS;
}
#if USE_GPS && USE_GPS_XSENS
#if USE_GPS_XSENS
void gps_impl_init(void) {
gps.nb_channels = 0;
gps_xsens_msg_available = FALSE;
}
#endif
@@ -299,7 +303,7 @@ void handle_ins_msg(void) {
EstimatorSetRate(ins_p, ins_q, ins_r);
#endif
#if USE_GPS && USE_GPS_XSENS
#if USE_GPS_XSENS
#ifndef ALT_KALMAN
#warning NO_VZ
#endif
@@ -314,7 +318,7 @@ void handle_ins_msg(void) {
float fcourse = atan2f((float)ins_vy, (float)ins_vx);
gps.course = fcourse * 1e7;
#endif // USE_GPS && USE_GPS_XSENS
#endif // USE_GPS_XSENS
}
void parse_ins_msg( void ) {
@@ -340,7 +344,7 @@ void parse_ins_msg( void ) {
else if (xsens_id == XSENS_Error_ID) {
xsens_errorcode = XSENS_Error_errorcode(xsens_msg_buf);
}
#if USE_GPS && USE_GPS_XSENS
#if USE_GPS_XSENS
else if (xsens_id == XSENS_GPSStatus_ID) {
gps.nb_channels = XSENS_GPSStatus_nch(xsens_msg_buf);
gps.num_sv = 0;
@@ -371,7 +375,7 @@ void parse_ins_msg( void ) {
offset += XSENS_DATA_RAWInertial_LENGTH;
}
if (XSENS_MASK_RAWGPS(xsens_output_mode)) {
#if USE_GPS && USE_GPS_XSENS_RAW_DATA && USE_GPS_XSENS
#if USE_GPS_XSENS_RAW_DATA && USE_GPS_XSENS
gps.week = 0; // FIXME
gps.tow = XSENS_DATA_RAWGPS_itow(xsens_msg_buf,offset) * 10;
@@ -480,7 +484,7 @@ void parse_ins_msg( void ) {
offset += l * XSENS_DATA_Auxiliary_LENGTH / 2;
}
if (XSENS_MASK_Position(xsens_output_mode)) {
#if (! USE_GPS_XSENS_RAW_DATA) && USE_GPS_XSENS && USE_GPS
#if (! USE_GPS_XSENS_RAW_DATA) && USE_GPS_XSENS
lla_f.lat = RadOfDeg(XSENS_DATA_Position_lat(xsens_msg_buf,offset));
lla_f.lon = RadOfDeg(XSENS_DATA_Position_lon(xsens_msg_buf,offset));
gps.lla_pos.lat = (int32_t)(lla_f.lat * 1e7);
@@ -511,7 +515,7 @@ void parse_ins_msg( void ) {
}
if (XSENS_MASK_Status(xsens_output_mode)) {
xsens_msg_status = XSENS_DATA_Status_status(xsens_msg_buf,offset);
#if USE_GPS_XSENS && USE_GPS
#if USE_GPS_XSENS
if (bit_is_set(xsens_msg_status,2)) gps.fix = GPS_FIX_3D; // gps fix
else if (bit_is_set(xsens_msg_status,1)) gps.fix = 0x01; // efk valid
else gps.fix = GPS_FIX_NONE;
@@ -523,12 +527,12 @@ void parse_ins_msg( void ) {
LED_TOGGLE(GPS_LED);
}
#endif // GPS_LED
#endif // USE_GPS_XSENS && USE_GPS
#endif // USE_GPS_XSENS
offset += XSENS_DATA_Status_LENGTH;
}
if (XSENS_MASK_TimeStamp(xsens_output_settings)) {
xsens_time_stamp = XSENS_DATA_TimeStamp_ts(xsens_msg_buf,offset);
#if USE_GPS_XSENS && USE_GPS
#if USE_GPS_XSENS
gps.tow = xsens_time_stamp;
#endif
offset += XSENS_DATA_TimeStamp_LENGTH;
sw/airborne/modules/ins/ins_xsens.h
+1 -1
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@@ -47,7 +47,7 @@ extern uint16_t xsens_time_stamp;
InsEventCheckAndHandle(handle_ins_msg()) \
}
#if USE_GPS && USE_GPS_XSENS
#if USE_GPS_XSENS
extern bool_t gps_xsens_msg_available;
#define GpsEvent(_sol_available_callback) { \
if (gps_xsens_msg_available) { \