Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-04 13:55:40 +08:00
Code Issues Actions 27 Packages Projects Releases Wiki Activity

[rotorcraft ]Added ardrone2 sdk version gps, fixed some bugs.

Browse Source 
The GPS receiver from parrot is added for the SDK version of the ardrone2.
This new gps receiver is the flightrecorde from parrot.
Also fixed some bugs in the navdata receive of the SDK version, and added some comments to the INS.

Closes #463
This commit is contained in:
fvantienen
2013-06-14 19:49:48 +02:00
committed by Felix Ruess
parent 0195a94b1e
commit 20588e8350
8 changed files with 219 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/boards/ardrone/at_com.h
+51
View File
@@ -29,6 +29,8 @@
#ifndef BOARDS_ARDRONE_AT_COM_H
#define BOARDS_ARDRONE_AT_COM_H
#define NAVDATA_HEADER (0x55667788)
//Define the AT_REF bits
typedef enum {
REF_TAKEOFF = 1U << 9,
@@ -149,6 +151,55 @@ typedef struct _navdata_phys_measures_t {
uint32_t vrefIDG; // ref volt IDG gyro [LSB]
} __attribute__ ((packed)) navdata_phys_measures_t;
//Navdata gps packet
typedef double float64_t; //TODO: Fix this nicely, but this is only used here
typedef float float32_t; //TODO: Fix this nicely, but this is only used here
typedef struct _navdata_gps_t {
uint16_t tag; /*!< Navdata block ('option') identifier */
uint16_t size; /*!< set this to the size of this structure */
float64_t lat; /*!< Latitude */
float64_t lon; /*!< Longitude */
float64_t elevation; /*!< Elevation */
float64_t hdop; /*!< hdop */
int32_t data_available; /*!< When there is data available */
uint8_t unk_0[8];
float64_t lat0; /*!< Latitude ??? */
float64_t lon0; /*!< Longitude ??? */
float64_t lat_fuse; /*!< Latitude fused */
float64_t lon_fuse; /*!< Longitude fused */
uint32_t gps_state; /*!< State of the GPS, still need to figure out */
uint8_t unk_1[40];
float64_t vdop; /*!< vdop */
float64_t pdop; /*!< pdop */
float32_t speed; /*!< speed */
uint32_t last_frame_timestamp; /*!< Timestamp from the last frame */
float32_t degree; /*!< Degree */
float32_t degree_mag; /*!< Degree of the magnetic */
uint8_t unk_2[16];
struct{
uint8_t sat;
uint8_t unk;
}channels[12];
int32_t gps_plugged; /*!< When the gps is plugged */
uint8_t unk_3[108];
float64_t gps_time; /*!< The gps time of week */
uint16_t week; /*!< The gps week */
uint8_t gps_fix; /*!< The gps fix */
uint8_t num_sattelites; /*!< Number of sattelites */
uint8_t unk_4[24];
float64_t ned_vel_c0; /*!< NED velocity */
float64_t ned_vel_c1; /*!< NED velocity */
float64_t ned_vel_c2; /*!< NED velocity */
float64_t pos_accur_c0; /*!< Position accuracy */
float64_t pos_accur_c1; /*!< Position accuracy */
float64_t pos_accur_c2; /*!< Position accuracy */
float32_t speed_acur; /*!< Speed accuracy */
float32_t time_acur; /*!< Time accuracy */
uint8_t unk_5[72];
float32_t temprature;
float32_t pressure;
} __attribute__ ((packed)) navdata_gps_t;
//External functions
extern void init_at_com(void);
extern void at_com_recieve_navdata(unsigned char* buffer);