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added led signalisation

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This commit is contained in:
Antoine Drouin
2007-02-22 01:45:49 +00:00
parent 2f3925041c
commit 489f8f45a6
1 changed files with 8 additions and 0 deletions
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sw/airborne/gps.c
+8
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@@ -35,6 +35,7 @@
#include "ap_downlink.h"
#include "infrared.h"
#include "nav.h"
#include "led.h"
uint16_t last_gps_msg_t; /** cputime of the last gps message */
@@ -65,7 +66,14 @@ void use_gps_pos( void ) {
if (GpsFixValid()) {
last_gps_msg_t = cpu_time_sec;
estimator_update_state_gps();
#ifdef GPS_LED
LED_TOGGLE(GPS_LED);
}
else {
LED_ON(GPS_LED);
#endif
}
DOWNLINK_SEND_GPS(&gps_mode, &gps_utm_east, &gps_utm_north, &gps_course, &gps_alt, &gps_gspeed,&gps_climb, &gps_itow, &gps_utm_zone, &gps_nb_ovrn);
static uint8_t i;