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upgrade voltage and current to float (#2360)

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merged with https://github.com/paparazzi/pprzlink/pull/95
This commit is contained in:
Kirk Scheper
2019-01-15 18:26:07 +01:00
committed by Gautier Hattenberger
parent 16444fd8c7
commit 70d221ed62
62 changed files with 347 additions and 461 deletions
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sw/misc/satcom/tcp2ivy_generic.c
+27 -56
View File
@@ -62,28 +62,6 @@ static const char usage_str[] =
"options:\n"
" -s <server address>\n";
unsigned char gps_mode;
unsigned short gps_week;
unsigned int gps_itow;
unsigned int gps_alt;
unsigned short gps_gspeed;
short gps_climb;
short gps_course;
int gps_utm_east, gps_utm_north;
unsigned char gps_utm_zone;
int gps_lat, gps_lon; /* 1e7 deg */
int gps_hmsl;
short estimator_airspeed;
unsigned short electrical_vsupply;
unsigned char nav_block;
unsigned short energy;
unsigned char throttle;
unsigned short autopilot_flight_time;
unsigned char nav_utm_zone0;
float latlong_utm_x, latlong_utm_y;
unsigned char pprz_mode;
GMainLoop *ml;
int sock, length;
struct sockaddr_in addr;
@@ -104,11 +82,23 @@ unsigned short buf2ushort(char* dat)
}
static gboolean read_data(GIOChannel *chan, GIOCondition cond, gpointer data) {
int count;
uint8_t active;
int32_t gps_lat, gps_lon; // 1e7 deg
int16_t gps_alt; // m
uint16_t gps_gspeed; // cm/s
int16_t gps_course; // decideg
uint16_t airspeed; // cm/s
uint8_t vsupply; // deciV
uint8_t charge; //deciA
uint8_t throttle; // %
uint8_t nav_block;
uint8_t pprz_mode;
uint8_t autopilot_flight_time;
char buf[BUFSIZE];
/* receive data packet containing formatted data */
count = recv(sock, buf, sizeof(buf), 0);
int count = recv(sock, buf, sizeof(buf), 0);
if (count > 0) {
if (count == 23) {
// FillBufWith32bit(com_trans.buf, 1, gps_lat);
@@ -122,12 +112,11 @@ static gboolean read_data(GIOChannel *chan, GIOCondition cond, gpointer data) {
// FillBufWith16bit(com_trans.buf, 13, gps_course); // course
gps_course = buf2ushort(&buf[12]);
// FillBufWith16bit(com_trans.buf, 15, (uint16_t)(estimator_airspeed*100)); // TAS (cm/s)
estimator_airspeed = buf2ushort(&buf[14]);
// com_trans.buf[17] = electrical.vsupply; // decivolt
//FIXME: electrical.vsupply is now a uint16
electrical_vsupply = buf[16];
// com_trans.buf[18] = (uint8_t)(energy / 100); // deciAh
energy = buf[17];
airspeed = buf2ushort(&buf[14]);
// com_trans.buf[17] = (uint8_t)(electrical.vsupply * 10.f); // deciVolt
vsupply = buf[16];
// com_trans.buf[18] = (uint8_t)(electrical.charge * 10.f); // deciAh
charge = buf[17];
// com_trans.buf[19] = (uint8_t)(ap_state->commands[COMMAND_THROTTLE]*100/MAX_PPRZ);
throttle = buf[18];
// com_trans.buf[20] = pprz_mode;
@@ -137,30 +126,15 @@ static gboolean read_data(GIOChannel *chan, GIOCondition cond, gpointer data) {
// FillBufWith16bit(com_trans.buf, 22, autopilot_flight_time);
autopilot_flight_time = buf2ushort(&buf[21]);
#if 0
gps_lat = 52.2648312 * 1e7;
gps_lon = 9.9939456 * 1e7;
gps_alt = 169 * 1000;
gps_gspeed = 13 * 100;
gps_course = 60 * 10;
estimator_airspeed = 15 * 100;
electrical_vsupply = 126;
energy = 9;
throttle = 51;
pprz_mode = 2;
nav_block = 1;
autopilot_flight_time = 123;
#endif
printf("**** message received from iridium module ****\n");
printf("gps_lat %f\n", DegOfRad(gps_lat/1e7));
printf("gps_lon %f\n", DegOfRad(gps_lon/1e7));
printf("gps_alt %d\n", gps_alt);
printf("gps_gspeed %d\n", gps_gspeed);
printf("gps_course %d\n", gps_course);
printf("estimator_airspeed %d\n", estimator_airspeed);
printf("electrical_vsupply %d\n", electrical_vsupply);
printf("energy %d\n", energy);
printf("estimator_airspeed %d\n", airspeed);
printf("electrical_vsupply %d\n", vsupply);
printf("charge %d\n", charge);
printf("throttle %d\n", throttle);
printf("pprz_mode %d\n", pprz_mode);
printf("nav_block %d\n", nav_block);
@@ -174,16 +148,14 @@ static gboolean read_data(GIOChannel *chan, GIOCondition cond, gpointer data) {
gps_alt,
gps_gspeed,
gps_course,
estimator_airspeed,
electrical_vsupply,
energy,
airspeed,
vsupply,
charge,
throttle,
pprz_mode,
nav_block,
autopilot_flight_time);
}
else {
} else {
int i = 0;
// Raw print
printf("**** Raw message ****\n");
@@ -193,8 +165,7 @@ static gboolean read_data(GIOChannel *chan, GIOCondition cond, gpointer data) {
for (i = 0; i < count; i++) printf("%x ",buf[i]);
printf("\n");
}
}
else {
} else {
printf("disconnect\n");
close(sock);
g_main_loop_quit(ml);