Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-26 16:30:07 +08:00
Code Issues Actions 27 Packages Projects Releases Wiki Activity

gps: uint32_t for last_fix_time, and read sys_time.nb_sec instead of old cpu_time_sec

Browse Source
This commit is contained in:
Felix Ruess
2012-03-11 12:46:02 +01:00
parent 9ed07c26fb
commit f6a29a9e72
8 changed files with 16 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/subsystems/gps.h
+2 -2
View File
@@ -81,7 +81,7 @@ struct GpsState {
struct SVinfo svinfos[GPS_NB_CHANNELS]; ///< holds information from the Space Vehicles (Satellites)
uint32_t last_fix_ticks; ///< cpu time in ticks at last valid fix
uint16_t last_fix_time; ///< cpu time in sec at last valid fix
uint32_t last_fix_time; ///< cpu time in sec at last valid fix
uint16_t reset; ///< hotstart, warmstart, coldstart
};
@@ -106,7 +106,7 @@ extern void gps_impl_init(void);
#ifndef GPS_TIMEOUT
#define GPS_TIMEOUT 5
#endif
#define GpsIsLost() (cpu_time_sec - gps.last_fix_time > GPS_TIMEOUT)
#define GpsIsLost() (sys_time.nb_sec - gps.last_fix_time > GPS_TIMEOUT)
//TODO
sw/airborne/subsystems/gps/gps_mtk.c
+2 -2
View File
@@ -144,7 +144,7 @@ void gps_mtk_read_message(void) {
gps.lla_pos.lat = RadOfDeg(MTK_DIY14_NAV_LAT(gps_mtk.msg_buf))*10;
gps.lla_pos.lon = RadOfDeg(MTK_DIY14_NAV_LON(gps_mtk.msg_buf))*10;
// FIXME: with MTK you do not receive vertical speed
if (cpu_time_sec - gps.last_fix_time < 2) {
if (sys_time.nb_sec - gps.last_fix_time < 2) {
gps.ned_vel.z = ((gps.hmsl -
MTK_DIY14_NAV_HEIGHT(gps_mtk.msg_buf)*10)*OUTPUT_RATE)/10;
} else gps.ned_vel.z = 0;
@@ -208,7 +208,7 @@ void gps_mtk_read_message(void) {
gps.lla_pos.lat = RadOfDeg(MTK_DIY16_NAV_LAT(gps_mtk.msg_buf))*10;
gps.lla_pos.lon = RadOfDeg(MTK_DIY16_NAV_LON(gps_mtk.msg_buf))*10;
// FIXME: with MTK you do not receive vertical speed
if (cpu_time_sec - gps.last_fix_time < 2) {
if (sys_time.nb_sec - gps.last_fix_time < 2) {
gps.ned_vel.z = ((gps.hmsl -
MTK_DIY16_NAV_HEIGHT(gps_mtk.msg_buf)*10)*OUTPUT_RATE)/10;
} else gps.ned_vel.z = 0;
sw/airborne/subsystems/gps/gps_mtk.h
+3 -3
View File
@@ -80,15 +80,15 @@ extern bool_t gps_configuring;
if (gps_mtk.msg_class == MTK_DIY14_ID && \
gps_mtk.msg_id == MTK_DIY14_NAV_ID) { \
if (gps.fix == GPS_FIX_3D) { \
gps.last_fix_time = cpu_time_sec; \
gps.last_fix_time = sys_time.nb_sec; \
} \
_sol_available_callback(); \
} \
if (gps_mtk.msg_class == MTK_DIY16_ID && \
gps_mtk.msg_id == MTK_DIY16_NAV_ID) { \
if (gps.fix == GPS_FIX_3D) { \
gps.last_fix_ticks = cpu_time_ticks; \
gps.last_fix_time = cpu_time_sec; \
gps.last_fix_ticks = sys_time.nb_sec_rem; \
gps.last_fix_time = sys_time.nb_sec; \
} \
_sol_available_callback(); \
} \
sw/airborne/subsystems/gps/gps_nmea.h
+1 -1
View File
@@ -70,7 +70,7 @@ extern struct GpsNmea gps_nmea;
if (gps_nmea.pos_available) { \
if (gps.fix == GPS_FIX_3D) { \
gps.last_fix_ticks = cpu_time_ticks; \
gps.last_fix_time = cpu_time_sec; \
gps.last_fix_time = sys_time.nb_sec; \
} \
_sol_available_callback(); \
} \
sw/airborne/subsystems/gps/gps_sim.h
+1 -1
View File
@@ -14,7 +14,7 @@ extern void gps_impl_init(void);
#define GpsEvent(_sol_available_callback) { \
if (gps_available) { \
if (gps.fix == GPS_FIX_3D) { \
gps.last_fix_time = cpu_time_sec; \
gps.last_fix_time = sys_time.nb_sec; \
} \
_sol_available_callback(); \
gps_available = FALSE; \
sw/airborne/subsystems/gps/gps_sim_nps.h
+1 -1
View File
@@ -14,7 +14,7 @@ extern void gps_impl_init();
#define GpsEvent(_sol_available_callback) { \
if (gps_available) { \
if (gps.fix == GPS_FIX_3D) \
gps.last_fix_time = cpu_time_sec; \
gps.last_fix_time = sys_time_.nb_sec; \
_sol_available_callback(); \
gps_available = FALSE; \
} \
sw/airborne/subsystems/gps/gps_skytraq.h
+4 -3
View File
@@ -95,9 +95,10 @@ extern struct GpsSkytraq gps_skytraq;
if (gps_skytraq.msg_available) { \
gps_skytraq_read_message(); \
if (gps_skytraq.msg_id == SKYTRAQ_ID_NAVIGATION_DATA) { \
if (gps.fix == GPS_FIX_3D) \
gps.last_fix_ticks = cpu_time_ticks; \
gps.last_fix_time = cpu_time_sec; \
if (gps.fix == GPS_FIX_3D) { \
gps.last_fix_ticks = sys_time.nb_sec_rem; \
gps.last_fix_time = sys_time.nb_sec; \
} \
_sol_available_callback(); \
} \
gps_skytraq.msg_available = FALSE; \
sw/airborne/subsystems/gps/gps_ubx.h
+2 -2
View File
@@ -91,8 +91,8 @@ extern struct GpsUbx gps_ubx;
(gps_ubx.msg_id == UBX_NAV_SOL_ID && \
gps_ubx.have_velned == 0))) { \
if (gps.fix == GPS_FIX_3D) { \
gps.last_fix_ticks = cpu_time_ticks; \
gps.last_fix_time = cpu_time_sec; \
gps.last_fix_ticks = sys_time.nb_sec_rem; \
gps.last_fix_time = sys_time.nb_sec; \
} \
_sol_available_callback(); \
} \