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fix typo in datalink, add ms to datalink tow (#1761)

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There was a small typo when converting gps_datalink to module which broke it, this fixes that. I also use this pr to fix the tow in the natnet message and increase resolution to ms.
This commit is contained in:
Kirk Scheper
2016-06-22 10:29:45 +02:00
committed by Felix Ruess
parent 54b654a7b7
commit dd4bc21be6
2 changed files with 14 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/subsystems/gps/gps_datalink.c
+9 -5
View File
@@ -46,6 +46,8 @@ void gps_datalink_init(void)
gps_datalink.pacc = 0;
gps_datalink.cacc = 0;
gps_datalink.comp_id = GPS_DATALINK_ID;
struct LlaCoor_i llh_nav0; /* Height above the ellipsoid */
llh_nav0.lat = NAV_LAT0;
llh_nav0.lon = NAV_LON0;
@@ -110,14 +112,15 @@ static void parse_gps_datalink_small(int16_t heading, uint32_t pos_xyz, uint32_t
gps_datalink.tow = tow;
gps_datalink.fix = GPS_FIX_3D; // set 3D fix to true
// publish new GPS data
uint32_t now_ts = get_sys_time_usec();
// set gps msg time
gps_datalink.last_msg_ticks = sys_time.nb_sec_rem;
gps_datalink.last_msg_time = sys_time.nb_sec;
gps_datalink.last_3dfix_ticks = sys_time.nb_sec_rem;
gps_datalink.last_3dfix_time = sys_time.nb_sec;
// publish new GPS data
uint32_t now_ts = get_sys_time_usec();
AbiSendMsgGPS(GPS_DATALINK_ID, now_ts, &gps_datalink);
}
@@ -158,21 +161,22 @@ static void parse_gps_datalink(uint8_t numsv, int32_t ecef_x, int32_t ecef_y, in
gps_datalink.tow = tow;
gps_datalink.fix = GPS_FIX_3D;
// publish new GPS data
uint32_t now_ts = get_sys_time_usec();
// set gps msg time
gps_datalink.last_msg_ticks = sys_time.nb_sec_rem;
gps_datalink.last_msg_time = sys_time.nb_sec;
gps_datalink.last_3dfix_ticks = sys_time.nb_sec_rem;
gps_datalink.last_3dfix_time = sys_time.nb_sec;
// publish new GPS data
uint32_t now_ts = get_sys_time_usec();
AbiSendMsgGPS(GPS_DATALINK_ID, now_ts, &gps_datalink);
}
void gps_datalink_parse_REMOTE_GPS(void)
{
if (DL_REMOTE_GPS_SMALL_ac_id(dl_buffer) != AC_ID) { return; } // not for this aircraft
if (DL_REMOTE_GPS_ac_id(dl_buffer) != AC_ID) { return; } // not for this aircraft
parse_gps_datalink(DL_REMOTE_GPS_numsv(dl_buffer),
DL_REMOTE_GPS_ecef_x(dl_buffer),
sw/ground_segment/misc/natnet2ivy.c
+5 -5
View File
@@ -572,12 +572,12 @@ gboolean timeout_transmit_callback(gpointer data)
/* Construct time of time of week (tow) */
time_t now;
time(&now);
struct tm *ts = localtime(&now);
struct timeval now;
gettimeofday(&now, NULL);
struct tm *ts = localtime(&now.tv_sec);
uint32_t tow = (ts->tm_wday - 1) * (24 * 60 * 60 * 1000) + ts->tm_hour * (60 * 60 * 1000) + ts->tm_min *
(60 * 1000) + ts->tm_sec * 1000;
uint32_t tow = ts->tm_wday * (24 * 60 * 60 * 1000) + ts->tm_hour * (60 * 60 * 1000) + ts->tm_min *
(60 * 1000) + ts->tm_sec * 1000 + now.tv_usec / 1000 ;
// Transmit the REMOTE_GPS packet on the ivy bus (either small or big)
if (small_packets) {