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Code Issues Releases Activity

Modules/GPS: Make code to deal with home location optional to allow a sleeker GPS module for RAM challenged systems

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This commit is contained in:
Corvus Corax 2011-04-23 16:49:07 +02:00
parent f0bfffda09
commit 2bf7ea2271
2 changed files with 21 additions and 3 deletions
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21
flight/Modules/GPS/GPS.c
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@ -53,8 +53,11 @@
// Private functions
static void gpsTask(void *parameters);
#ifdef PIOS_GPS_SETS_HOMELOCATION
static void setHomeLocation(GPSPositionData * gpsData);
static float GravityAccel(float latitude, float longitude, float altitude);
#endif
// ****************
// Private constants
@ -65,11 +68,19 @@ static float GravityAccel(float latitude, float longitude, float altitude);
#define GPS_TIMEOUT_MS 500
#define GPS_COMMAND_RESEND_TIMEOUT_MS 2000
#ifdef PIOS_GPS_SETS_HOMELOCATION
// Unfortunately need a good size stack for the WMM calculation
#ifdef ENABLE_GPS_BINARY_GTOP
#define STACK_SIZE_BYTES 800
#ifdef ENABLE_GPS_BINARY_GTOP
#define STACK_SIZE_BYTES 800
#else
#define STACK_SIZE_BYTES 800
#endif
#else
#define STACK_SIZE_BYTES 800
#ifdef ENABLE_GPS_BINARY_GTOP
#define STACK_SIZE_BYTES 440
#else
#define STACK_SIZE_BYTES 440
#endif
#endif
#define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
@ -311,12 +322,14 @@ static void gpsTask(void *parameters)
else
{ // we appear to be receiving GPS sentences OK, we've had an update
#ifdef PIOS_GPS_SETS_HOMELOCATION
HomeLocationData home;
HomeLocationGet(&home);
GPSPositionGet(&GpsData);
if ((GpsData.Status == GPSPOSITION_STATUS_FIX3D) && (home.Set == HOMELOCATION_SET_FALSE))
setHomeLocation(&GpsData);
#endif
//criteria for GPS-OK taken from this post...
//http://forums.openpilot.org/topic/1523-professors-insgps-in-svn/page__view__findpost__p__5220
@ -334,6 +347,7 @@ static void gpsTask(void *parameters)
}
}
#ifdef PIOS_GPS_SETS_HOMELOCATION
/*
* Estimate the acceleration due to gravity for a particular location in LLA
*/
@ -389,6 +403,7 @@ static void setHomeLocation(GPSPositionData * gpsData)
}
}
}
#endif
// ****************

3
flight/OpenPilot/System/inc/pios_config.h
View File

@ -89,6 +89,9 @@
/* Stabilization options */
#define PIOS_QUATERNION_STABILIZATION
/* GPS options */
#define PIOS_GPS_SETS_HOMELOCATION
#endif /* PIOS_CONFIG_H */
/**