Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-25 23:46:04 +08:00
Code Issues Actions 25 Packages Projects Releases Wiki Activity

convert fms spi autopilot msg to use new telemetry

Browse Source
This commit is contained in:
Allen Ibara
2010-07-27 21:44:42 +00:00
parent 64355d37f4
commit 60a70bce7b
2 changed files with 14 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/fms/fms_spi_autopilot_msg.c
+6 -5
View File
@@ -34,9 +34,9 @@
#include "fms_spi_autopilot_msg.h"
/* all these for telemetry */
#include "messages.h"
#include "downlink.h"
#include "udp_transport.h"
#include "messages2.h"
#include "downlink_transport.h"
#include "udp_transport2.h"
#include "fms/fms_network.h"
#include "ready_main.h"
@@ -53,9 +53,10 @@ static void (* vane_callback)(uint8_t vane_id, float alpha, float beta) = NULL;
static void (* pressure_callback)(uint8_t pressure_id, uint32_t pressure1, uint32_t pressure2) = NULL;
static void (* radio_control_callback)(void) = NULL;
void spi_ap_link_downlink_send()
void spi_ap_link_downlink_send(struct DownlinkTransport *tp)
{
DOWNLINK_SEND_EKF7_Y(DefaultChannel, &imu.accel.x, &imu.accel.y, &imu.accel.z,
uint32_t timestamp = 0;
DOWNLINK_SEND_EKF7_Y(tp, &timestamp, &imu.accel.x, &imu.accel.y, &imu.accel.z,
&imu.mag.x, &imu.mag.y, &imu.mag.z,
&imu.gyro.p, &imu.gyro.q, &imu.gyro.r);
}
sw/airborne/fms/fms_spi_autopilot_msg.h
+8 -2
View File
@@ -21,13 +21,19 @@
* Boston, MA 02111-1307, USA.
*/
#ifndef FMS_SPI_AUTOPILOT_MSG_H
#define FMS_SPI_AUTOPILOT_MSG_H
#include "downlink_transport.h"
int spi_ap_link_init(void);
void spi_ap_link_set_vane_callback(void (* vane_cb)(uint8_t vane_id, float alpha, float beta));
void spi_ap_link_set_pressure_callback(void (* pressure_cb)(uint8_t pressure_id, uint32_t pressure1, uint32_t pressure2));
void spi_ap_link_set_radio_control_callback(void (* radio_control_cb)(void));
void spi_ap_link_periodic(void);
void spi_ap_link_downlink_send(void);
void spi_ap_link_downlink_send(struct DownlinkTransport *tp);
#ifdef USE_SPI_LINK
#define PERIODIC_SEND_EKF7_Y(_chan) spi_ap_link_downlink_send();
#define PERIODIC_SEND_EKF7_Y(_chan) spi_ap_link_downlink_send(_chan);
#endif
#endif // FMS_SPI_AUTOPILOT_MSG_H