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Code Issues Releases Activity

OP-97 flight/GPS: GeoidSeparation added, need to think that precision problem

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1056 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
sambas 2010-07-10 07:27:07 +00:00 committed by sambas
parent 983588e134
commit 9003cd8eca
6 changed files with 34 additions and 7 deletions
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17
flight/OpenPilot/Modules/GPS/GPS.c
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@ -425,16 +425,25 @@ void nmeaProcessGPGGA(char* packet)
// get altitude (in meters mm.m) // get altitude (in meters mm.m)
tokens = strsep(&packet, delimiter); tokens = strsep(&packet, delimiter);
//reuse variables for alt //reuse variables for alt
deg=strtol (tokens,&pEnd,10); // always 0.1m resolution? deg=strtol (tokens,&pEnd,10); // always 0.1m resolution? No
desim=strtol (pEnd+1,NULL,10); desim=strtol (pEnd+1,NULL,10);
if(1) // OPGPS 3 desimal if(1) // OPGPS 3 decimal
GpsData.Altitude=deg+desim/1000.0; GpsData.Altitude=deg+desim/1000.0;
else else
GpsData.Altitude=deg+desim/10.0; GpsData.Altitude=deg+desim/10.0;
// next field: altitude units, always 'M' // next field: altitude units, always 'M'
// next field: geoid seperation tokens = strsep(&packet, delimiter);
// next field: seperation units // next field: geoid separation
tokens = strsep(&packet, delimiter);
//reuse variables for geoid separation
deg=strtol (tokens,&pEnd,10); // always 0.1m resolution? No
desim=strtol (pEnd+1,NULL,10);
if(1) // OPGPS 3 decimal
GpsData.GeoidSeparation=deg+desim/1000.0;
else
GpsData.GeoidSeparation=deg+desim/10.0;
// next field: separation units
// next field: DGPS age // next field: DGPS age
// next field: DGPS station ID // next field: DGPS station ID
// next field: checksum // next field: checksum

4
flight/OpenPilot/UAVObjects/inc/positionactual.h
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@ -33,7 +33,7 @@
#define POSITIONACTUAL_H #define POSITIONACTUAL_H
// Object constants // Object constants
#define POSITIONACTUAL_OBJID 981132812U #define POSITIONACTUAL_OBJID 1265479538U
#define POSITIONACTUAL_NAME "PositionActual" #define POSITIONACTUAL_NAME "PositionActual"
#define POSITIONACTUAL_METANAME "PositionActualMeta" #define POSITIONACTUAL_METANAME "PositionActualMeta"
#define POSITIONACTUAL_ISSINGLEINST 1 #define POSITIONACTUAL_ISSINGLEINST 1
@ -61,6 +61,7 @@ typedef struct {
float Latitude; float Latitude;
float Longitude; float Longitude;
float Altitude; float Altitude;
float GeoidSeparation;
float Heading; float Heading;
float Groundspeed; float Groundspeed;
int8_t Satellites; int8_t Satellites;
@ -77,6 +78,7 @@ typedef enum { POSITIONACTUAL_STATUS_NOGPS=0, POSITIONACTUAL_STATUS_NOFIX=1, POS
// Field Latitude information // Field Latitude information
// Field Longitude information // Field Longitude information
// Field Altitude information // Field Altitude information
// Field GeoidSeparation information
// Field Heading information // Field Heading information
// Field Groundspeed information // Field Groundspeed information
// Field Satellites information // Field Satellites information

3
ground/src/plugins/uavobjects/positionactual.cpp
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@ -57,6 +57,9 @@ PositionActual::PositionActual(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS,
QStringList AltitudeElemNames; QStringList AltitudeElemNames;
AltitudeElemNames.append("0"); AltitudeElemNames.append("0");
fields.append( new UAVObjectField(QString("Altitude"), QString("meters"), UAVObjectField::FLOAT32, AltitudeElemNames, QStringList()) ); fields.append( new UAVObjectField(QString("Altitude"), QString("meters"), UAVObjectField::FLOAT32, AltitudeElemNames, QStringList()) );
QStringList GeoidSeparationElemNames;
GeoidSeparationElemNames.append("0");
fields.append( new UAVObjectField(QString("GeoidSeparation"), QString("meters"), UAVObjectField::FLOAT32, GeoidSeparationElemNames, QStringList()) );
QStringList HeadingElemNames; QStringList HeadingElemNames;
HeadingElemNames.append("0"); HeadingElemNames.append("0");
fields.append( new UAVObjectField(QString("Heading"), QString("degrees"), UAVObjectField::FLOAT32, HeadingElemNames, QStringList()) ); fields.append( new UAVObjectField(QString("Heading"), QString("degrees"), UAVObjectField::FLOAT32, HeadingElemNames, QStringList()) );

4
ground/src/plugins/uavobjects/positionactual.h
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@ -45,6 +45,7 @@ public:
float Latitude; float Latitude;
float Longitude; float Longitude;
float Altitude; float Altitude;
float GeoidSeparation;
float Heading; float Heading;
float Groundspeed; float Groundspeed;
qint8 Satellites; qint8 Satellites;
@ -61,6 +62,7 @@ public:
// Field Latitude information // Field Latitude information
// Field Longitude information // Field Longitude information
// Field Altitude information // Field Altitude information
// Field GeoidSeparation information
// Field Heading information // Field Heading information
// Field Groundspeed information // Field Groundspeed information
// Field Satellites information // Field Satellites information
@ -70,7 +72,7 @@ public:
// Constants // Constants
static const quint32 OBJID = 981132812U; static const quint32 OBJID = 1265479538U;
static const QString NAME; static const QString NAME;
static const bool ISSINGLEINST = 1; static const bool ISSINGLEINST = 1;
static const bool ISSETTINGS = 0; static const bool ISSETTINGS = 0;

12
ground/src/plugins/uavobjects/positionactual.py
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@ -81,6 +81,16 @@ _fields = [ \
{ {
} }
), ),
uavobject.UAVObjectField(
'GeoidSeparation',
'f',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField( uavobject.UAVObjectField(
'Heading', 'Heading',
'f', 'f',
@ -146,7 +156,7 @@ _fields = [ \
class PositionActual(uavobject.UAVObject): class PositionActual(uavobject.UAVObject):
## Object constants ## Object constants
OBJID = 981132812 OBJID = 1265479538
NAME = "PositionActual" NAME = "PositionActual"
METANAME = "PositionActualMeta" METANAME = "PositionActualMeta"
ISSINGLEINST = 1 ISSINGLEINST = 1

1
ground/src/shared/uavobjectdefinition/positionactual.xml
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@ -4,6 +4,7 @@
<field name="Latitude" units="degrees" type="float" elements="1"/> <field name="Latitude" units="degrees" type="float" elements="1"/>
<field name="Longitude" units="degrees" type="float" elements="1"/> <field name="Longitude" units="degrees" type="float" elements="1"/>
<field name="Altitude" units="meters" type="float" elements="1"/> <field name="Altitude" units="meters" type="float" elements="1"/>
<field name="GeoidSeparation" units="meters" type="float" elements="1"/>
<field name="Heading" units="degrees" type="float" elements="1"/> <field name="Heading" units="degrees" type="float" elements="1"/>
<field name="Groundspeed" units="m/s" type="float" elements="1"/> <field name="Groundspeed" units="m/s" type="float" elements="1"/>
<field name="Satellites" units="" type="int8" elements="1"/> <field name="Satellites" units="" type="int8" elements="1"/>