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gps_xsens

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This commit is contained in:
Christophe De Wagter
2011-04-01 21:40:19 +02:00
parent 9ab9ccb760
commit 6418f71d58
2 changed files with 8 additions and 7 deletions
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conf/autopilot/subsystems/fixedwing/gps_xsens.makefile
+1 -2
View File
@@ -3,6 +3,5 @@
# ap.CFLAGS += -DGPS
ap.srcs += $(SRC_FIXEDWING)/gps_xsens.c $(SRC_FIXEDWING)/gps.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
sim.srcs += $(SRC_FIXEDWING)/gps.c
sw/airborne/modules/ins/ins_xsens.c
+7 -5
View File
@@ -168,6 +168,8 @@ int8_t xsens_day;
float xsens_lat;
float xsens_lon;
int8_t xsens_gps_nr_channels = 16;
static uint8_t xsens_id;
static uint8_t xsens_status;
@@ -213,7 +215,7 @@ void handle_ins_msg( void) {
EstimatorSetAtt(ins_phi, ((float)gps.course / 1e7), ins_theta);
// EstimatorSetAlt(ins_z);
estimator_update_state_gps();
reset_gps_watchdog();
// reset_gps_watchdog();
}
void parse_ins_msg( void ) {
@@ -229,12 +231,12 @@ void parse_ins_msg( void ) {
}
#ifdef USE_GPS_XSENS
else if (xsens_id == XSENS_GPSStatus_ID) {
gps_nb_channels = XSENS_GPSStatus_nch(xsens_msg_buf);
gps.num_sv = gps_nb_channels;
xsens_gps_nr_channels = XSENS_GPSStatus_nch(xsens_msg_buf);
gps.num_sv = xsens_gps_nr_channels;
uint8_t i;
for(i = 0; i < Min(gps_nb_channels, GPS_NB_CHANNELS); i++) {
for(i = 0; i < Min(xsens_gps_nr_channels, xsens_gps_nr_channels); i++) {
uint8_t ch = XSENS_GPSStatus_chn(xsens_msg_buf,i);
if (ch > GPS_NB_CHANNELS) continue;
if (ch > xsens_gps_nr_channels) continue;
gps.svinfos[ch].svid = XSENS_GPSStatus_svid(xsens_msg_buf, i);
gps.svinfos[ch].flags = XSENS_GPSStatus_bitmask(xsens_msg_buf, i);
gps.svinfos[ch].qi = XSENS_GPSStatus_qi(xsens_msg_buf, i);