Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-31 12:23:23 +08:00
Code Issues Actions 27 Packages Projects Releases Wiki Activity

[gps] example of broadcasting GPS messages between aircrafts

Browse Source 
This is used by the traffic info module to have position of surrounding
aircraft at higher rate and lower latency.
Based on PPRZLINK v2.
This commit is contained in:
Gautier Hattenberger
2017-08-21 14:08:52 +02:00
parent cf8888879e
commit 4894fe8ba7
3 changed files with 40 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/modules/multi/traffic_info.c
+4
View File
@@ -79,7 +79,11 @@ bool parse_acinfo_dl(void)
uint8_t msg_id = IdOfPprzMsg(dl_buffer);
/* handle telemetry message */
#if PPRZLINK_DEFAULT_VER == 2
if (pprzlink_get_msg_class_id(dl_buffer) == DL_telemetry_CLASS_ID) {
#else
if (sender_id > 0) {
#endif
switch (msg_id) {
case DL_GPS_SMALL: {
uint32_t multiplex_speed = DL_GPS_SMALL_multiplex_speed(dl_buffer);
sw/airborne/subsystems/gps.c
+35 -1
View File
@@ -134,7 +134,19 @@ static void send_gps(struct transport_tx *trans, struct link_device *dev)
int16_t climb = -gps.ned_vel.z;
int16_t course = (DegOfRad(gps.course) / ((int32_t)1e6));
struct UtmCoor_i utm = utm_int_from_gps(&gps, 0);
pprz_msg_send_GPS(trans, dev, AC_ID, &gps.fix,
#if PPRZLINK_DEFAULT_VER == 2 && GPS_POS_BROADCAST
// broadcast GPS message
struct pprzlink_msg msg;
msg.trans = trans;
msg.dev = dev;
msg.sender_id = AC_ID;
msg.receiver_id = PPRZLINK_MSG_BROADCAST;
msg.component_id = 0;
pprzlink_msg_send_GPS(&msg,
#else
pprz_msg_send_GPS(trans, dev, AC_ID,
#endif
&gps.fix,
&utm.east, &utm.north,
&course, &gps.hmsl, &gps.gspeed, &climb,
&gps.week, &gps.tow, &utm.zone, &zero);
@@ -169,7 +181,18 @@ static void send_gps_rxmrtcm(struct transport_tx *trans, struct link_device *dev
static void send_gps_int(struct transport_tx *trans, struct link_device *dev)
{
#if PPRZLINK_DEFAULT_VER == 2 && GPS_POS_BROADCAST
// broadcast GPS message
struct pprzlink_msg msg;
msg.trans = trans;
msg.dev = dev;
msg.sender_id = AC_ID;
msg.receiver_id = PPRZLINK_MSG_BROADCAST;
msg.component_id = 0;
pprzlink_msg_send_GPS_INT(&msg,
#else
pprz_msg_send_GPS_INT(trans, dev, AC_ID,
#endif
&gps.ecef_pos.x, &gps.ecef_pos.y, &gps.ecef_pos.z,
&gps.lla_pos.lat, &gps.lla_pos.lon, &gps.lla_pos.alt,
&gps.hmsl,
@@ -189,7 +212,18 @@ static void send_gps_lla(struct transport_tx *trans, struct link_device *dev)
uint8_t err = 0;
int16_t climb = -gps.ned_vel.z;
int16_t course = (DegOfRad(gps.course) / ((int32_t)1e6));
#if PPRZLINK_DEFAULT_VER == 2 && GPS_POS_BROADCAST
// broadcast GPS message
struct pprzlink_msg msg;
msg.trans = trans;
msg.dev = dev;
msg.sender_id = AC_ID;
msg.receiver_id = PPRZLINK_MSG_BROADCAST;
msg.component_id = 0;
pprzlink_msg_send_GPS_LLA(&msg,
#else
pprz_msg_send_GPS_LLA(trans, dev, AC_ID,
#endif
&gps.lla_pos.lat, &gps.lla_pos.lon, &gps.lla_pos.alt,
&gps.hmsl, &course, &gps.gspeed, &climb,
&gps.week, &gps.tow,