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[piksi] modified for ABI approach

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masierra
2016-02-01 16:03:56 -08:00
parent e61ab253f5
commit b5a929c913
1 changed files with 6 additions and 7 deletions
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sw/airborne/subsystems/gps/gps_piksi.c
+5 -6
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@@ -271,10 +271,9 @@ static void sbp_tracking_state_dep_a_callback(uint16_t sender_id __attribute__((
static void spb_heartbeat_callback(uint16_t sender_id __attribute__((unused)),
uint8_t len __attribute__((unused)),
uint8_t msg[],
uint8_t msg[] __attribute__((unused)),
void *context __attribute__((unused)))
{
msg_heartbeat_t heartbeat = *(msg_heartbeat_t *)msg;
time_since_last_heartbeat = get_sys_time_msec();
}
@@ -363,7 +362,7 @@ void piksi_gps_event(void)
static void gps_piksi_publish(void)
{
// current timestamp
// uint32_t now_ts = get_sys_time_usec();
uint32_t now_ts = get_sys_time_usec();
gps_piksi.last_msg_ticks = sys_time.nb_sec_rem;
gps_piksi.last_msg_time = sys_time.nb_sec;
@@ -371,7 +370,7 @@ static void gps_piksi_publish(void)
gps_piksi.last_3dfix_ticks = sys_time.nb_sec_rem;
gps_piksi.last_3dfix_time = sys_time.nb_sec;
}
// AbiSendMsgGPS(GPS_PIKSI_ID, now_ts, &gps_piksi);
AbiSendMsgGPS(GPS_PIKSI_ID, now_ts, &gps_piksi);
}
/*
@@ -417,8 +416,8 @@ void gps_inject_data(uint8_t packet_id, uint8_t length, uint8_t *data)
void piksi_gps_register(void)
{
#ifdef GPS_SECONDARY_PIKSI
gps_register_impl(piksi_gps_impl_init, piksi_gps_event, &gps_piksi, &gps_piksi_time_sync, 1);
gps_register_impl(piksi_gps_impl_init, piksi_gps_event, GPS_PIKSI_ID, 1);
#else
gps_register_impl(piksi_gps_impl_init, piksi_gps_event, &gps_piksi, &gps_piksi_time_sync, 0);
gps_register_impl(piksi_gps_impl_init, piksi_gps_event, GPS_PIKSI_ID, 0);
#endif
}