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Code Issues Releases Activity

OP-1404 fix unit scaling for pvt, use check_msgtracker,

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This commit is contained in:
Alessio Morale 2014-08-04 11:04:35 +02:00
parent 6f4b1d5c03
commit d3569927a0
2 changed files with 9 additions and 11 deletions
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18
flight/modules/GPS/UBX.c
View File

@ -32,9 +32,8 @@
#include "pios.h"
#if defined(PIOS_INCLUDE_GPS_UBX_PARSER)
#include "UBX.h"
#include "GPS.h"
#include "inc\UBX.h"
#include "inc\GPS.h"
// parse incoming character stream for messages in UBX binary format
@ -255,22 +254,21 @@ void parse_ubx_nav_pvt(struct UBX_NAV_PVT *pvt, GPSPositionSensorData *GpsPositi
{
GPSVelocitySensorData GpsVelocity;
msgtracker.currentTOW = pvt->iTOW;
msgtracker.msg_received = (SOL_RECEIVED | VELNED_RECEIVED | POSLLH_RECEIVED);
check_msgtracker(pvt->iTOW, (SOL_RECEIVED | VELNED_RECEIVED | POSLLH_RECEIVED));
GpsVelocity.North = (float)pvt->velN / 100.0f;
GpsVelocity.East = (float)pvt->velE / 100.0f;
GpsVelocity.Down = (float)pvt->velD / 100.0f;
GpsVelocity.North = (float)pvt->velN * 0.001f;
GpsVelocity.East = (float)pvt->velE * 0.001f;
GpsVelocity.Down = (float)pvt->velD * 0.001f;
GPSVelocitySensorSet(&GpsVelocity);
GpsPosition->Groundspeed = (float)pvt->gSpeed * 0.01f;
GpsPosition->Groundspeed = (float)pvt->gSpeed * 0.001f;
GpsPosition->Heading = (float)pvt->heading * 1.0e-5f;
GpsPosition->Altitude = (float)pvt->hMSL * 0.001f;
GpsPosition->GeoidSeparation = (float)(pvt->height - pvt->hMSL) * 0.001f;
GpsPosition->Latitude = pvt->lat;
GpsPosition->Longitude = pvt->lon;
GpsPosition->Satellites = pvt->numSV;
if (pvt->flags & PVT_FLAGS_GNNSFIX_OK) {
if (pvt->flags & PVT_FLAGS_GNSSFIX_OK) {
GpsPosition->Status = pvt->fixType == PVT_FIX_TYPE_3D ?
GPSPOSITIONSENSOR_STATUS_FIX3D : GPSPOSITIONSENSOR_STATUS_FIX2D;
} else {

2
flight/modules/GPS/inc/UBX.h
View File

@ -168,7 +168,7 @@ struct UBX_NAV_TIMEUTC {
#define PVT_FIX_TYPE_GNSS_DEAD_RECKON 0x04 // GNSS + dead reckoning combined
#define PVT_FIX_TYPE_TIME_ONLY 0x05 // Time only fix
#define PVT_FLAGS_GNNSFIX_OK (1 << 0)
#define PVT_FLAGS_GNSSFIX_OK (1 << 0)
#define PVT_FLAGS_DIFFSOLN (1 << 1)
#define PVT_FLAGS_PSMSTATE_ENABLED (1 << 2)
#define PVT_FLAGS_PSMSTATE_ACQUISITION (2 << 2)