rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-11-29 07:24:13 +01:00
Code Issues Releases Activity

LP-291 add missing includes. Uncrustification.

Browse Source
This commit is contained in:
Vladimir Zidar 2016-04-24 01:50:41 +02:00
parent 69a51956e8
commit 33eb434862
1 changed files with 23 additions and 27 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

50
flight/modules/UAVOMSPBridge/UAVOMSPBridge.c
View File

@ -42,6 +42,8 @@
#include "flightbatterystate.h"
#include "gpspositionsensor.h"
#include "manualcontrolcommand.h"
#include "manualcontrolsettings.h"
#include "oplinkstatus.h"
#include "accessorydesired.h"
#include "attitudestate.h"
#include "airspeedstate.h"
@ -451,20 +453,17 @@ static void msp_send_analog(struct msp_bridge *m)
ManualControlSettingsChannelGroupsData channelGroups;
ManualControlSettingsChannelGroupsGet(&channelGroups);
if(channelGroups.Throttle == MANUALCONTROLSETTINGS_CHANNELGROUPS_OPLINK)
{
if (channelGroups.Throttle == MANUALCONTROLSETTINGS_CHANNELGROUPS_OPLINK) {
int8_t rssi;
OPLinkStatusRSSIGet(&rssi);
// oplink rssi - low: -127 noise floor (set by software when link is completely lost)
// max: various articles found on web quote -10 as maximum received signal power expressed in dBm.
// max: various articles found on web quote -10 as maximum received signal power expressed in dBm.
// MSP values have no units, and OSD rssi display requires calibration anyway, so we will translate -127 to -10 -> 0-1023
data.status.rssi = ((127 + rssi) * 1023) / (127 - 10);
}
else
{
} else {
uint8_t quality;
ReceiverStatusQualityGet(&quality);
@ -534,32 +533,29 @@ static void msp_send_comp_gps(struct msp_bridge *m)
uint8_t home_position_valid; // 0 = Invalid, Dronin MSP specific
} __attribute__((packed)) comp_gps;
} data;
data.comp_gps.distance_to_home = 0;
data.comp_gps.direction_to_home = 0;
data.comp_gps.home_position_valid = 0; // Home distance and direction will not display on OSD
if( PositionStateHandle() && TakeOffLocationHandle() )
{
if (PositionStateHandle() && TakeOffLocationHandle()) {
TakeOffLocationData takeOffLocation;
TakeOffLocationGet(&takeOffLocation);
if(takeOffLocation.Status == TAKEOFFLOCATION_STATUS_VALID)
{
PositionStateData positionState;
if (takeOffLocation.Status == TAKEOFFLOCATION_STATUS_VALID) {
PositionStateData positionState;
PositionStateGet(&positionState);
data.comp_gps.distance_to_home = (uint16_t)sqrtf( Sq(takeOffLocation.East - positionState.East) + Sq(takeOffLocation.North - positionState.North) );
data.comp_gps.direction_to_home = RAD2DEG( atan2f(takeOffLocation.East - positionState.East, takeOffLocation.North - positionState.North) );
data.comp_gps.distance_to_home = (uint16_t)sqrtf(Sq(takeOffLocation.East - positionState.East) + Sq(takeOffLocation.North - positionState.North));
data.comp_gps.direction_to_home = RAD2DEG(atan2f(takeOffLocation.East - positionState.East, takeOffLocation.North - positionState.North));
data.comp_gps.home_position_valid = 1;
}
}
// here, CC3D implementation could use raw gps data (GPSPositionSensorData) and locally cached GPSPositionSensorData at arming time as TakeOffLocation.
msp_send(m, MSP_COMP_GPS, data.buf, sizeof(data));
}
@ -568,8 +564,8 @@ static void msp_send_altitude(struct msp_bridge *m)
union {
uint8_t buf[0];
struct {
int32_t estimatedAltitude; // cm
int16_t vario; // cm/s
int32_t estimatedAltitude; // cm
int16_t vario; // cm/s
} __attribute__((packed)) altitude;
} data;
@ -582,11 +578,11 @@ static void msp_send_altitude(struct msp_bridge *m)
} else {
data.altitude.estimatedAltitude = 0;
}
if( VelocityStateHandle() != NULL) {
if (VelocityStateHandle() != NULL) {
VelocityStateData velocityState;
VelocityStateGet(&velocityState);
data.altitude.vario = (int16_t)roundf(velocityState.Down * -100.0f);
} else {
data.altitude.vario = 0;