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[gps_datalink] update small message protocol - working

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kirkscheper
2016-01-06 17:54:23 +01:00
parent 449ec64297
commit ff8c11a2fc
3 changed files with 2701 additions and 2 deletions
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conf/messages.xml
+1
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@@ -856,6 +856,7 @@
<message name="BLUEGIGA" id="106">
<field name="data_rate" type="uint32" unit="bytes/s"/>
<field name="last_msg" type="uint8[]"/>
</message>
<!--107 is free -->
diff.diff
+2699
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sw/airborne/subsystems/gps/gps_datalink.c
+1 -2
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@@ -98,7 +98,6 @@ void parse_gps_datalink_small(uint8_t num_sv, uint32_t pos_xyz, uint32_t speed_x
ecef_of_enu_vect_i(&gps.ecef_vel , &ltp_def , &enu_speed);
SetBit(gps.valid_fields, GPS_VALID_VEL_ECEF_BIT);
// todo check correct
gps.ned_vel.x = enu_speed.x;
gps.ned_vel.y = enu_speed.y;
gps.ned_vel.z = -enu_speed.z;
@@ -111,7 +110,7 @@ void parse_gps_datalink_small(uint8_t num_sv, uint32_t pos_xyz, uint32_t speed_x
SetBit(gps.valid_fields, GPS_VALID_COURSE_BIT);
gps.num_sv = num_sv;
gps.tow = gps_tow_from_sys_ticks(sys_time.nb_tick); // todo check
gps.tow = gps_tow_from_sys_ticks(sys_time.nb_tick);
gps.fix = GPS_FIX_3D; // set 3D fix to true
gps_available = TRUE; // set GPS available to true