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[crrcsim] fix crrcsim/nps for 64bit computers

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This commit is contained in:
Gautier Hattenberger
2013-10-18 18:11:58 +02:00
parent dcf678b417
commit dd8389baf3
1 changed files with 10 additions and 10 deletions
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sw/simulator/nps/nps_fdm_crrcsim.c
+10 -10
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@@ -351,23 +351,23 @@ static int get_msg(struct _crrcsim* io, byte* data_buffer)
return count;
}
// Long in buffer are little endian
#define LongOfBuf(_buf,_idx) (signed long)(((unsigned long)_buf[_idx+3]<<24)|((unsigned long)_buf[_idx+2]<<16)|((unsigned short)_buf[_idx+1]<<8)|((unsigned short)_buf[_idx]))
// Short in buffer are big endian
#define ShortOfBuf(_buf,_idx) (signed short)(((unsigned short)_buf[_idx]<<8)|((unsigned short)_buf[_idx+1]))
// Long (32bits) in buffer are little endian in gps message
#define LongOfBuf(_buf,_idx) (int32_t)(((uint32_t)_buf[_idx+3]<<24)|((uint32_t)_buf[_idx+2]<<16)|((uint32_t)_buf[_idx+1]<<8)|((uint32_t)_buf[_idx]))
// Unsigned short (16bits) in buffer are little endian in gps message
#define UShortOfBuf(_buf,_idx) (uint16_t)(((uint16_t)_buf[_idx+1]<<8)|((uint16_t)_buf[_idx]))
// Short (16bits) in buffer are big endian in other messages
#define ShortOfBuf(_buf,_idx) (int16_t)(((uint16_t)_buf[_idx]<<8)|((uint16_t)_buf[_idx+1]))
/***************************************************************************************
*decode the gps data packet
***************************************************************************************/
static void decode_gpspacket(struct NpsFdm * fdm, byte* buffer)
{
//signed long tmp=0;
/* gps velocity (1e2 m/s to m/s */
struct NedCoor_d vel;
vel.x = (double)LongOfBuf(buffer,3)*1.2e-2;
vel.y = (double)LongOfBuf(buffer,7)*1.2e-2;
vel.z = (double)LongOfBuf(buffer,11)*1.2e-2;
vel.x = (double)LongOfBuf(buffer,3)*1.0e-2;
vel.y = (double)LongOfBuf(buffer,7)*1.0e-2;
vel.z = (double)LongOfBuf(buffer,11)*1.0e-2;
fdm->ltp_ecef_vel = vel;
ecef_of_ned_vect_d(&fdm->ecef_ecef_vel, &ltpdef, &vel);
@@ -386,7 +386,7 @@ static void decode_gpspacket(struct NpsFdm * fdm, byte* buffer)
fdm->hmsl = pos.alt - NAV_MSL0/1000.;
/* gps time */
fdm->time = (double)ShortOfBuf(buffer,27);
fdm->time = (double)UShortOfBuf(buffer,27);
/* in LTP pprz */
ned_of_ecef_point_d(&fdm->ltpprz_pos, &ltpdef, &fdm->ecef_pos);