Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-06 16:58:48 +08:00
Code Issues Actions 26 Packages Projects Releases Wiki Activity

Minimal Telemetry: gps_downlink can be called from telemetry.xml

Browse Source
This commit is contained in:
Christophe De Wagter
2009-06-16 20:31:10 +00:00
parent 8c0dffb1e8
commit 8ba278b01a
6 changed files with 63 additions and 23 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/telemetry/iridium.xml
+36
View File
@@ -0,0 +1,36 @@
<?xml version="1.0"?>
<!DOCTYPE telemetry SYSTEM "telemetry.dtd">
<telemetry>
<process name="Ap">
<mode name="default">
<message name="ESTIMATOR" period="2." phase="0."/>
<message name="NAVIGATION" period="2." phase="0."/>
<message name="GPS" period="2." phase="0."/>
<message name="ATTITUDE" period="4." phase="1"/>
<message name="DL_VALUE" period="4." phase="3"/>
<message name="WP_MOVED" period="4." phase="3"/>
<message name="DESIRED" period="8." phase="1"/>
<!-- Only one of the following is active at the same time: give them same time stamp -->
<message name="SEGMENT" period="8." phase="5"/>
<message name="CIRCLE" period="8." phase="5"/>
<message name="SURVEY" period="8." phase="5"/>
<message name="ALIVE" period="16." phase="1"/>
<message name="BAT" period="16." phase="1"/>
<message name="CALIBRATION" period="16." phase="1"/>
<message name="DOWNLINK" period="16." phase="5"/>
<message name="GPS_SOL" period="16." phase="5"/>
<message name="NAVIGATION_REF" period="16." phase="9"/>
<message name="PPRZ_MODE" period="16." phase="9"/>
</mode>
</process>
<process name="Fbw">
<mode name="default">
<message name="FBW_STATUS" period="16." phase="13"/>
<message name="COMMANDS" period="16." phase="13"/>
<message name="ACTUATORS" period="16." phase="13"/>
</mode>
</process>
</telemetry>
sw/airborne/ap_downlink.h
+5
View File
@@ -159,6 +159,11 @@
#define PERIODIC_SEND_GPS() 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)
#define PERIODIC_SEND_GPS_SOL() DOWNLINK_SEND_GPS_SOL(&gps_Pacc, &gps_Sacc, &gps_PDOP, &gps_numSV)
#define PERIODIC_SEND_DebugChao() DOWNLINK_SEND_DebugChao(&ugear_debug1, &ugear_debug2, &ugear_debug3, &ugear_debug4, &ugear_debug5, &ugear_debug6)
#else
# ifdef PERIOD_GPS_0
# include "gps.h"
# define PERIODIC_SEND_GPS() gps_send()
# endif
#endif
#ifdef USE_BARO_MS5534A
sw/airborne/gps.c
+12 -5
View File
@@ -33,6 +33,7 @@
#include "latlong.h"
#include "sys_time.h"
#include "airframe.h"
#include "periodic.h"
#ifdef USE_USB_SERIAL
#include "usb_serial.h"
@@ -56,13 +57,19 @@ volatile uint16_t gps_msg_received_counter;
#endif
void gps_downlink( void ) {
static uint8_t _4Hz;
_4Hz++; if (_4Hz > 3) _4Hz = 0;
#if defined DOWNLINK_GPS_1Hz
if (_4Hz == 0)
# ifdef DOWNLINK_GPS_1Hz
# warning "Deperecated DOWNLINK_GPS_1Hz: Please Use Telemetry xml to reduce data rate"
# endif
#ifndef PERIOD_GPS_0
gps_send();
#endif
}
void gps_send( void ) {
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;
sw/airborne/gps.h
+2 -12
View File
@@ -67,6 +67,7 @@ void gps_init( void );
void gps_configure( void );
void parse_gps_msg( void );
void gps_downlink( void );
void gps_send( void );
void gps_configure_uart( void );
@@ -115,24 +116,13 @@ extern struct svinfo gps_svinfos[GPS_NB_CHANNELS];
#define GpsToggleLed() {}
#endif
#define UseGpsPos(_callback) { \
if (GpsFixValid()) { \
last_gps_msg_t = cpu_time_sec; \
_callback(); \
GpsToggleLed(); \
} \
gps_downlink(); \
}
#ifdef UGEAR
#define UseGpsPosUgear(_callback) { \
#define UseGpsPosNoSend(_callback) { \
if (GpsFixValid()) { \
last_gps_msg_t = cpu_time_sec; \
_callback(); \
GpsToggleLed(); \
} \
}
#endif
#ifdef GPS_CONFIGURE
#define GpsParseOrConfigure() { \
sw/airborne/main_ap.c
+5 -5
View File
@@ -777,18 +777,17 @@ void event_task_ap( void ) {
if (gps_pos_available){
//gps_downlink();
gps_verbose_downlink = !launch;
// UseGpsPos(estimator_update_state_gps);
UseGpsPosUgear(estimator_update_state_gps);
UseGpsPosNoSend(estimator_update_state_gps);
gps_msg_received_counter = gps_msg_received_counter+1;
#ifdef GX2
if (gps_msg_received_counter == 1){
gps_downlink();
gps_send();
gps_msg_received_counter = 0;
}
#endif
#ifdef XSENSDL
if (gps_msg_received_counter == 25){
gps_downlink();
gps_send();
gps_msg_received_counter = 0;
}
#endif
@@ -814,7 +813,8 @@ void event_task_ap( void ) {
gps_msg_received = FALSE;
if (gps_pos_available) {
gps_verbose_downlink = !launch;
UseGpsPos(estimator_update_state_gps);
UseGpsPosNoSend(estimator_update_state_gps);
gps_downlink();
gps_pos_available = FALSE;
}
}
sw/airborne/sim/sim_gps.c
+3 -1
View File
@@ -73,7 +73,9 @@ value sim_use_gps_pos(value x, value y, value z, value c, value a, value s, valu
gps_numSV = 7;
gps_verbose_downlink = !launch;
UseGpsPos(estimator_update_state_gps);
UseGpsPosNoSend(estimator_update_state_gps);
gps_downlink();
return Val_unit;
}