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more SV-info when you need it, less SV-info when flying

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This commit is contained in:
Christophe De Wagter
2011-05-04 15:56:49 +02:00
parent 4ee65bc49f
commit ea9a9cc4fa
1 changed files with 3 additions and 4 deletions
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sw/airborne/ap_downlink.h
+3 -4
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@@ -187,14 +187,13 @@
//#define PERIODIC_SEND_GPS(_chan) gps_send() /* also sends svinfo */
#define PERIODIC_SEND_GPS(_chan) { \
static uint8_t i; \
static uint8_t last_cnos[GPS_NB_CHANNELS]; \
int16_t climb = -gps.ned_vel.z; \
int16_t course = DegOfRad(gps.course / 10); \
DOWNLINK_SEND_GPS(DefaultChannel, &gps.fix, &gps.utm_pos.east, &gps.utm_pos.north, &course, &gps.lla_pos.alt, &gps.gspeed, &climb, &gps.week, &gps.tow, &gps.utm_pos.zone, &i); \
if (i >= gps.nb_channels) i = 0; \
if (i < gps.nb_channels && gps.svinfos[i].cno > 0 && gps.svinfos[i].cno != last_cnos[i]) { \
if ((gps.fix != GPS_FIX_3D) && (i >= gps.nb_channels)) i = 0; \
if (i >= gps.nb_channels * 2) i = 0; \
if (i < gps.nb_channels && gps.svinfos[i].cno > 0) { \
DOWNLINK_SEND_SVINFO(DefaultChannel, &i, &gps.svinfos[i].svid, &gps.svinfos[i].flags, &gps.svinfos[i].qi, &gps.svinfos[i].cno, &gps.svinfos[i].elev, &gps.svinfos[i].azim); \
last_cnos[i] = gps.svinfos[i].cno; \
} \
i++; \
}