rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-29 14:52:12 +01:00
Code Issues Releases Activity

Added some pieces that had been lost during rebase

Browse Source
This commit is contained in:
Werner Backes 2012-07-10 16:38:00 +02:00
parent 5776981436
commit d0b7dc0012
1 changed files with 16 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

26
flight/Modules/GPS/GPS.c
View File

@ -35,8 +35,6 @@
//#include <stdbool.h> //#include <stdbool.h>
#include "NMEA.h"
#include "gpsposition.h" #include "gpsposition.h"
#include "homelocation.h" #include "homelocation.h"
#include "gpstime.h" #include "gpstime.h"
@ -47,6 +45,9 @@
#include "CoordinateConversions.h" #include "CoordinateConversions.h"
#include "hwsettings.h" #include "hwsettings.h"
#include "NMEA.h"
#include "UBX.h"
// **************** // ****************
// Private functions // Private functions
@ -140,6 +141,17 @@ int32_t GPSInitialize(void)
gpsEnabled = false; gpsEnabled = false;
#endif #endif
#if defined(REVOLUTION)
// Revolution expects these objects to always be defined. Not doing so will fail some
// queue connections in navigation
GPSPositionInitialize();
GPSVelocityInitialize();
GPSTimeInitialize();
GPSSatellitesInitialize();
HomeLocationInitialize();
updateSettings();
#else
if (gpsPort && gpsEnabled) { if (gpsPort && gpsEnabled) {
GPSPositionInitialize(); GPSPositionInitialize();
GPSVelocityInitialize(); GPSVelocityInitialize();
@ -151,6 +163,8 @@ int32_t GPSInitialize(void)
HomeLocationInitialize(); HomeLocationInitialize();
#endif #endif
updateSettings(); updateSettings();
}
#endif
if (gpsPort && gpsEnabled) { if (gpsPort && gpsEnabled) {
GPSSettingsInitialize(); GPSSettingsInitialize();
@ -295,14 +309,6 @@ static void setHomeLocation(GPSPositionData * gpsData)
// Compute home ECEF coordinates and the rotation matrix into NED // Compute home ECEF coordinates and the rotation matrix into NED
double LLA[3] = { ((double)home.Latitude) / 10e6, ((double)home.Longitude) / 10e6, ((double)home.Altitude) }; double LLA[3] = { ((double)home.Latitude) / 10e6, ((double)home.Longitude) / 10e6, ((double)home.Altitude) };
double ECEF[3];
RneFromLLA(LLA, (float (*)[3])home.RNE);
LLA2ECEF(LLA, ECEF);
// TODO: Currently UAVTalk only supports float but these conversions use double
// need to find out if they require that precision and if so extend UAVTAlk
home.ECEF[0] = (int32_t) (ECEF[0] * 100);
home.ECEF[1] = (int32_t) (ECEF[1] * 100);
home.ECEF[2] = (int32_t) (ECEF[2] * 100);
// Compute magnetic flux direction at home location // Compute magnetic flux direction at home location
if (WMM_GetMagVector(LLA[0], LLA[1], LLA[2], gps.Month, gps.Day, gps.Year, &home.Be[0]) >= 0) if (WMM_GetMagVector(LLA[0], LLA[1], LLA[2], gps.Month, gps.Day, gps.Year, &home.Be[0]) >= 0)