Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-30 11:37:06 +08:00
Code Issues Actions 26 Packages Projects Releases Wiki Activity

[xsens] make a struct for the xsens time

Browse Source
This commit is contained in:
Felix Ruess
2012-06-05 15:37:31 +02:00
parent 14cc0d41a1
commit 2440139fc3
2 changed files with 20 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/modules/ins/ins_xsens.c
+8 -14
View File
@@ -187,13 +187,7 @@ float xsens_gps_arm_y = 0;
float xsens_gps_arm_z = 0;
int8_t xsens_hour;
int8_t xsens_min;
int8_t xsens_sec;
int32_t xsens_nanosec;
int16_t xsens_year;
int8_t xsens_month;
int8_t xsens_day;
struct XsensTime xsens_time;
static uint8_t xsens_id;
static uint8_t xsens_status;
@@ -538,13 +532,13 @@ void parse_ins_msg( void ) {
offset += XSENS_DATA_TimeStamp_LENGTH;
}
if (XSENS_MASK_UTC(xsens_output_settings)) {
xsens_hour = XSENS_DATA_UTC_hour(xsens_msg_buf,offset);
xsens_min = XSENS_DATA_UTC_min(xsens_msg_buf,offset);
xsens_sec = XSENS_DATA_UTC_sec(xsens_msg_buf,offset);
xsens_nanosec = XSENS_DATA_UTC_nanosec(xsens_msg_buf,offset);
xsens_year = XSENS_DATA_UTC_year(xsens_msg_buf,offset);
xsens_month = XSENS_DATA_UTC_month(xsens_msg_buf,offset);
xsens_day = XSENS_DATA_UTC_day(xsens_msg_buf,offset);
xsens_time.hour = XSENS_DATA_UTC_hour(xsens_msg_buf,offset);
xsens_time.min = XSENS_DATA_UTC_min(xsens_msg_buf,offset);
xsens_time.sec = XSENS_DATA_UTC_sec(xsens_msg_buf,offset);
xsens_time.nanosec = XSENS_DATA_UTC_nanosec(xsens_msg_buf,offset);
xsens_time.year = XSENS_DATA_UTC_year(xsens_msg_buf,offset);
xsens_time.month = XSENS_DATA_UTC_month(xsens_msg_buf,offset);
xsens_time.day = XSENS_DATA_UTC_day(xsens_msg_buf,offset);
offset += XSENS_DATA_UTC_LENGTH;
}
sw/airborne/modules/ins/ins_xsens.h
+12 -7
View File
@@ -33,13 +33,18 @@
#include "ins_module.h"
extern int8_t xsens_hour;
extern int8_t xsens_min;
extern int8_t xsens_sec;
extern int32_t xsens_nanosec;
extern int16_t xsens_year;
extern int8_t xsens_month;
extern int8_t xsens_day;
struct XsensTime {
int8_t hour;
int8_t min;
int8_t sec;
int32_t nanosec;
int16_t year;
int8_t month;
int8_t day;
};
extern struct XsensTime xsens_time;
extern uint8_t xsens_msg_status;
extern uint16_t xsens_time_stamp;