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[telemetry] fixing and cleaning a few stuff

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Gautier Hattenberger
2014-11-05 22:21:32 +01:00
parent 96445e9ffe
commit 765d09a527
18 changed files with 76 additions and 68 deletions
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sw/airborne/boards/ardrone/navdata.c
+3 -3
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@@ -154,7 +154,7 @@ static void send_navdata(struct transport_tx *trans, struct device *dev) {
&nav_port.checksum_errors);
}
static void send_fliter_status(void) {
static void send_filter_status(struct transport_tx *trans, struct device *dev) {
uint8_t mde = 3;
if (ahrs.status == AHRS_UNINIT) mde = 2;
if (imu_lost) mde = 5;
@@ -231,7 +231,7 @@ bool_t navdata_init()
#if PERIODIC_TELEMETRY
register_periodic_telemetry(DefaultPeriodic, "ARDRONE_NAVDATA", send_navdata);
register_periodic_telemetry(DefaultPeriodic, "STATE_FILTER_STATUS", send_fliter_status);
register_periodic_telemetry(DefaultPeriodic, "STATE_FILTER_STATUS", send_filter_status);
#endif
return TRUE;
@@ -324,7 +324,7 @@ static void mag_freeze_check(void) {
uint8_t mde = 5;
uint16_t val = 0;
pprz_msg_send_STATE_FILTER_STATUS(trans, dev, AC_ID, &mde, &val);
DOWNLINK_SEND_STATE_FILTER_STATUS(DefaultChannel, DefaultDevice, &mde, &val);
// stop acquisition
uint8_t cmd=0x02;