Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-04 05:42:49 +08:00
Code Issues Actions 25 Packages Projects Releases Wiki Activity

[ardrone] lost imu frame counter

Browse Source
This commit is contained in:
Christophe De Wagter
2013-12-13 16:15:56 +01:00
parent a6b886760e
commit fbaff566d2
2 changed files with 13 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/boards/ardrone/navdata.c
+11
View File
@@ -193,10 +193,12 @@ bool_t navdata_init()
previousUltrasoundHeight = 0;
nav_port.checksum_errors = 0;
nav_port.lost_imu_frames = 0;
nav_port.bytesRead = 0;
nav_port.totalBytesRead = 0;
nav_port.packetsRead = 0;
nav_port.isInitialized = TRUE;
nav_port.last_packet_number = 0;
#if DOWNLINK
register_periodic_telemetry(DefaultPeriodic, "ARDRONE_NAVDATA", send_navdata);
@@ -343,6 +345,15 @@ void navdata_update()
nav_port.checksum_errors++;
}
nav_port.last_packet_number++;
if (nav_port.last_packet_number != navdata.nu_trame)
{
printf("Lost Navdata frame: %d should have been %d\n",navdata.nu_trame, nav_port.last_packet_number);
nav_port.lost_imu_frames++;
}
nav_port.last_packet_number = navdata.nu_trame;
//printf("%d\r",navdata.nu_trame);
// When we already dropped a packet or checksum is correct
if(last_checksum_wrong || navdata.chksum == checksum) {
// Invert byte order so that TELEMETRY works better