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[modules] digital_cam: add heading and hmsl in DC_SHOT message

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also fix DC_SHOT in hackhd
This commit is contained in:
Felix Ruess
2014-12-03 16:18:44 +01:00
parent 8b6383a669
commit deb22d427e
3 changed files with 33 additions and 20 deletions
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conf/messages.xml
+12 -10
View File
@@ -530,9 +530,9 @@
<field name="mode" type="int16" unit=""/> <field name="mode" type="int16" unit=""/>
<field name="lat" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/> <field name="lat" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="lon" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/> <field name="lon" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="alt" type="int32" unit="mm" alt_unit="m"/> <field name="alt" type="int32" unit="mm" alt_unit="m">altitude above WGS84 reference ellipsoid</field>
<field name="course" type="float" unit="deg"/> <field name="course" type="float" unit="deg"/>
<field name="buffer" type="uint16"/> <field name="photo_nr" type="uint16"/>
<field name="dist" type="float" unit="m"/> <field name="dist" type="float" unit="m"/>
<field name="next_dist" type="float" unit="m"/> <field name="next_dist" type="float" unit="m"/>
<field name="start_x" type="float" unit="m"/> <field name="start_x" type="float" unit="m"/>
@@ -882,14 +882,16 @@
<message name="DC_SHOT" id="110"> <message name="DC_SHOT" id="110">
<field name="photo_nr" type="int16"/> <field name="photo_nr" type="int16"/>
<field name="lat" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/> <field name="lat" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001">Gedetic latitude</field>
<field name="lon" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/> <field name="lon" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001">Longitude</field>
<field name="alt" type="int32" unit="mm" alt_unit="m"/> <field name="alt" type="int32" unit="mm" alt_unit="m">altitude above WGS84 reference ellipsoid</field>
<field name="phi" type="int16" unit="decideg"/> <field name="hmsl" type="int32" unit="mm" alt_unit="m">Height above Mean Sea Level (geoid)</field>
<field name="theta" type="int16" unit="decideg"/> <field name="phi" type="int16" unit="decideg">Euler angle around x-axis (roll)</field>
<field name="course" type="int16" unit="decideg"/> <field name="theta" type="int16" unit="decideg">Euler angle around y-axis (pitch)</field>
<field name="speed" type="uint16" unit="cm/s"/> <field name="psi" type="int16" unit="decideg">Euler angle around z-axis (yaw)</field>
<field name="itow" type="uint32" unit="ms"/> <field name="course" type="int16" unit="decideg">Course over ground (CW/north)</field>
<field name="speed" type="uint16" unit="cm/s">horizontal ground speed</field>
<field name="itow" type="uint32" unit="ms">GPS time of week</field>
</message> </message>
<message name="TEST_BOARD_RESULTS" id="111"> <message name="TEST_BOARD_RESULTS" id="111">
sw/airborne/modules/digital_cam/dc.c
+4
View File
@@ -94,8 +94,10 @@ uint16_t dc_photo_nr = 0;
void dc_send_shot_position(void) void dc_send_shot_position(void)
{ {
// angles in decideg
int16_t phi = DegOfRad(stateGetNedToBodyEulers_f()->phi*10.0f); int16_t phi = DegOfRad(stateGetNedToBodyEulers_f()->phi*10.0f);
int16_t theta = DegOfRad(stateGetNedToBodyEulers_f()->theta*10.0f); int16_t theta = DegOfRad(stateGetNedToBodyEulers_f()->theta*10.0f);
int16_t psi = DegOfRad(stateGetNedToBodyEulers_f()->psi*10.0f);
// course in decideg // course in decideg
int16_t course = DegOfRad(*stateGetHorizontalSpeedDir_f()) * 10; int16_t course = DegOfRad(*stateGetHorizontalSpeedDir_f()) * 10;
// ground speed in cm/s // ground speed in cm/s
@@ -112,8 +114,10 @@ void dc_send_shot_position(void)
&stateGetPositionLla_i()->lat, &stateGetPositionLla_i()->lat,
&stateGetPositionLla_i()->lon, &stateGetPositionLla_i()->lon,
&stateGetPositionLla_i()->alt, &stateGetPositionLla_i()->alt,
&gps.hmsl,
&phi, &phi,
&theta, &theta,
&psi,
&course, &course,
&speed, &speed,
&gps.tow); &gps.tow);
sw/airborne/modules/digital_cam/hackhd.c
+17 -10
View File
@@ -90,20 +90,27 @@ static inline uint16_t pin_of_gpio(uint32_t __attribute__((unused)) port, uint16
static inline void hackhd_send_shot_position(void) static inline void hackhd_send_shot_position(void)
{ {
// angles in decideg
int16_t phi = DegOfRad(stateGetNedToBodyEulers_f()->phi*10.0f); int16_t phi = DegOfRad(stateGetNedToBodyEulers_f()->phi*10.0f);
int16_t theta = DegOfRad(stateGetNedToBodyEulers_f()->theta*10.0f); int16_t theta = DegOfRad(stateGetNedToBodyEulers_f()->theta*10.0f);
int16_t course = (DegOfRad(gps.course)/((int32_t)1e6)); int16_t psi = DegOfRad(stateGetNedToBodyEulers_f()->psi*10.0f);
// course in decideg
int16_t course = DegOfRad(*stateGetHorizontalSpeedDir_f()) * 10;
// ground speed in cm/s
uint16_t speed = (*stateGetHorizontalSpeedNorm_f()) * 10;
DOWNLINK_SEND_DC_SHOT(DefaultChannel, DefaultDevice, DOWNLINK_SEND_DC_SHOT(DefaultChannel, DefaultDevice,
&hackhd.photo_nr, &hackhd.photo_nr,
&stateGetPositionLla_i()->lat, &stateGetPositionLla_i()->lat,
&stateGetPositionLla_i()->lon, &stateGetPositionLla_i()->lon,
&stateGetPositionLla_i()->alt, &stateGetPositionLla_i()->alt,
&phi, &gps.hmsl,
&theta, &phi,
&course, &theta,
&gps.gspeed, &psi,
&gps.tow); &course,
&speed,
&gps.tow);
} }
#endif #endif