mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-02-20 10:54:14 +01:00
LP-212 uncrustify and remove junk comments
This commit is contained in:
Cliff Geerdes
parent
2ae1f9c63d
commit
fad0e9f24c
@ -58,9 +58,9 @@ typedef struct {
|
||||
} dji_message_handler;
|
||||
|
||||
const dji_message_handler dji_handler_table[] = {
|
||||
{ .msgID = DJI_ID_GPS, .handler = &parse_dji_gps },
|
||||
{ .msgID = DJI_ID_MAG, .handler = &parse_dji_mag },
|
||||
{ .msgID = DJI_ID_VER, .handler = &parse_dji_ver },
|
||||
{ .msgID = DJI_ID_GPS, .handler = &parse_dji_gps },
|
||||
{ .msgID = DJI_ID_MAG, .handler = &parse_dji_mag },
|
||||
{ .msgID = DJI_ID_VER, .handler = &parse_dji_ver },
|
||||
};
|
||||
#define DJI_HANDLER_TABLE_SIZE NELEMENTS(dji_handler_table)
|
||||
|
||||
@ -91,7 +91,7 @@ int parse_dji_stream(uint8_t *rx, uint16_t len, char *gps_rx_buffer, GPSPosition
|
||||
static enum proto_states proto_state = START;
|
||||
static uint16_t rx_count = 0;
|
||||
struct DJIPacket *dji = (struct DJIPacket *)gps_rx_buffer;
|
||||
uint16_t i = 0;
|
||||
uint16_t i = 0;
|
||||
uint16_t restart_index = 0;
|
||||
enum restart_states restart_state;
|
||||
static bool previous_packet_good = true;
|
||||
@ -103,13 +103,14 @@ int parse_dji_stream(uint8_t *rx, uint16_t len, char *gps_rx_buffer, GPSPosition
|
||||
c = rx[i++];
|
||||
switch (proto_state) {
|
||||
case START: // detect protocol
|
||||
if (c == DJI_SYNC1) { // first DJI sync char found
|
||||
proto_state = DJI_SY2;
|
||||
if (c == DJI_SYNC1) { // first DJI sync char found
|
||||
proto_state = DJI_SY2;
|
||||
// restart here, at byte after SYNC1, if we fail to parse
|
||||
restart_index = i; }
|
||||
restart_index = i;
|
||||
}
|
||||
continue;
|
||||
case DJI_SY2:
|
||||
if (c == DJI_SYNC2) { // second DJI sync char found
|
||||
if (c == DJI_SYNC2) { // second DJI sync char found
|
||||
proto_state = DJI_ID;
|
||||
} else {
|
||||
restart_state = RESTART_NO_ERROR;
|
||||
@ -117,8 +118,8 @@ int parse_dji_stream(uint8_t *rx, uint16_t len, char *gps_rx_buffer, GPSPosition
|
||||
}
|
||||
continue;
|
||||
case DJI_ID:
|
||||
dji->header.id = c;
|
||||
proto_state = DJI_LEN;
|
||||
dji->header.id = c;
|
||||
proto_state = DJI_LEN;
|
||||
continue;
|
||||
case DJI_LEN:
|
||||
if (c > sizeof(DJIPayload)) {
|
||||
@ -131,7 +132,7 @@ int parse_dji_stream(uint8_t *rx, uint16_t len, char *gps_rx_buffer, GPSPosition
|
||||
break;
|
||||
#endif
|
||||
} else {
|
||||
dji->header.len = c;
|
||||
dji->header.len = c;
|
||||
if (c == 0) {
|
||||
proto_state = DJI_CHK1;
|
||||
} else {
|
||||
@ -161,7 +162,7 @@ int parse_dji_stream(uint8_t *rx, uint16_t len, char *gps_rx_buffer, GPSPosition
|
||||
// instead of a mag packet (30 per second)
|
||||
current_packet_good = checksum_dji_message(dji);
|
||||
// message complete and valid or (it's a mag packet and the previous "any" packet was good)
|
||||
if (current_packet_good || (dji->header.id==DJI_ID_MAG && previous_packet_good)) {
|
||||
if (current_packet_good || (dji->header.id == DJI_ID_MAG && previous_packet_good)) {
|
||||
parse_dji_message(dji, GpsData);
|
||||
gpsRxStats->gpsRxReceived++;
|
||||
proto_state = START;
|
||||
@ -171,7 +172,7 @@ int parse_dji_stream(uint8_t *rx, uint16_t len, char *gps_rx_buffer, GPSPosition
|
||||
// only pass PARSER_COMPLETE back to caller if we parsed a full set of GPS data
|
||||
// that allows the caller to know if we are parsing GPS data
|
||||
// or just other packets for some reason (DJI clone firmware bug that happens sometimes)
|
||||
if (dji->header.id==DJI_ID_GPS && ret==PARSER_INCOMPLETE) {
|
||||
if (dji->header.id == DJI_ID_GPS && ret == PARSER_INCOMPLETE) {
|
||||
ret = PARSER_COMPLETE; // message complete & processed
|
||||
}
|
||||
} else {
|
||||
@ -192,7 +193,7 @@ int parse_dji_stream(uint8_t *rx, uint16_t len, char *gps_rx_buffer, GPSPosition
|
||||
// if restarting due to error detected in 2nd call to this function (on split packet)
|
||||
// then we just restart at index 0, which is mid-packet, not the second byte
|
||||
if (restart_state == RESTART_WITH_ERROR) {
|
||||
ret = PARSER_ERROR; // inform caller that we found at least one error (along with 0 or more good packets)
|
||||
ret = PARSER_ERROR; // inform caller that we found at least one error (along with 0 or more good packets)
|
||||
}
|
||||
rx += restart_index; // restart parsing just past the most recent SYNC1
|
||||
len -= restart_index;
|
||||
@ -209,8 +210,8 @@ bool checksum_dji_message(struct DJIPacket *dji)
|
||||
int i;
|
||||
uint8_t ck_a, ck_b;
|
||||
|
||||
ck_a = dji->header.id;
|
||||
ck_b = ck_a;
|
||||
ck_a = dji->header.id;
|
||||
ck_b = ck_a;
|
||||
|
||||
ck_a += dji->header.len;
|
||||
ck_b += ck_a;
|
||||
@ -231,7 +232,8 @@ bool checksum_dji_message(struct DJIPacket *dji)
|
||||
|
||||
static void parse_dji_gps(struct DJIPacket *dji, GPSPositionSensorData *GpsPosition)
|
||||
{
|
||||
static bool inited=false;
|
||||
static bool inited = false;
|
||||
|
||||
if (!inited) {
|
||||
inited = true;
|
||||
// Is there a model calculation we can do to get a reasonable value for geoid separation?
|
||||
@ -242,11 +244,11 @@ static void parse_dji_gps(struct DJIPacket *dji, GPSPositionSensorData *GpsPosit
|
||||
|
||||
// decode with xor mask
|
||||
uint8_t mask = gps->unused5;
|
||||
//for (uint8_t i=0; i<dji->header->len; ++i) {
|
||||
for (uint8_t i=0; i<56; ++i) {
|
||||
//if (i!=48 && i!=49 && i<=55) {
|
||||
if (i!=48 && i!=49) {
|
||||
dji->payload.payload[i]^=mask;
|
||||
// for (uint8_t i=0; i<dji->header->len; ++i) {
|
||||
for (uint8_t i = 0; i < 56; ++i) {
|
||||
// if (i!=48 && i!=49 && i<=55) {
|
||||
if (i != 48 && i != 49) {
|
||||
dji->payload.payload[i] ^= mask;
|
||||
}
|
||||
}
|
||||
|
||||
@ -255,7 +257,7 @@ static void parse_dji_gps(struct DJIPacket *dji, GPSPositionSensorData *GpsPosit
|
||||
GpsVelocity.Down = (float)gps->velD * 0.01f;
|
||||
GPSVelocitySensorSet(&GpsVelocity);
|
||||
|
||||
GpsPosition->Groundspeed = sqrtf(GpsVelocity.North*GpsVelocity.North + GpsVelocity.East*GpsVelocity.East);
|
||||
GpsPosition->Groundspeed = sqrtf(GpsVelocity.North * GpsVelocity.North + GpsVelocity.East * GpsVelocity.East);
|
||||
GpsPosition->Heading = RAD2DEG(atan2f(-GpsVelocity.East, -GpsVelocity.North)) + 180.0f;
|
||||
GpsPosition->Altitude = (float)gps->hMSL * 0.001f;
|
||||
// there is no source of geoid separation data in the DJI protocol
|
||||
@ -264,14 +266,7 @@ static void parse_dji_gps(struct DJIPacket *dji, GPSPositionSensorData *GpsPosit
|
||||
GpsPosition->Longitude = gps->lon;
|
||||
GpsPosition->Satellites = gps->numSV;
|
||||
GpsPosition->PDOP = gps->pDOP * 0.01f;
|
||||
// cliffg FIXME
|
||||
// might get away with just using a max function here...
|
||||
// hmmm pdop=sqrt(hdop*hdop+hdop*hdop+vdop*vdop)
|
||||
// pdop*pdop=hdop*hdop+hdop*hdop+vdop*vdop
|
||||
// pdop*pdop-vdop*vdop=hdop*hdop+hdop*hdop
|
||||
// (pdop*pdop-vdop*vdop)/2=hdop*hdop
|
||||
// srtq(pdop*pdop-vdop*vdop)/2=hdop
|
||||
GpsPosition->HDOP = sqrtf((float)gps->nDOP*(float)gps->nDOP + (float)gps->eDOP*(float)gps->eDOP) * 0.01f;
|
||||
GpsPosition->HDOP = sqrtf((float)gps->nDOP * (float)gps->nDOP + (float)gps->eDOP * (float)gps->eDOP) * 0.01f;
|
||||
GpsPosition->VDOP = gps->vDOP * 0.01f;
|
||||
if (gps->flags & FLAGS_GPSFIX_OK) {
|
||||
GpsPosition->Status = gps->fixType == FIXTYPE_3D ?
|
||||
@ -281,18 +276,17 @@ static void parse_dji_gps(struct DJIPacket *dji, GPSPositionSensorData *GpsPosit
|
||||
}
|
||||
GpsPosition->SensorType = GPSPOSITIONSENSOR_SENSORTYPE_DJI;
|
||||
GpsPosition->AutoConfigStatus = GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_DISABLED;
|
||||
//GpsPosition->BaudRate = GPSPOSITIONSENSOR_BAUDRATE_115200;
|
||||
GPSPositionSensorSet(GpsPosition);
|
||||
|
||||
// Time is valid, set GpsTime
|
||||
GPSTimeData GpsTime;
|
||||
// cliffg FIXME
|
||||
// the lowest bit of day and the highest bit of hour overlap (xored? no stranger than that)
|
||||
// the lowest bit of day and the highest bit of hour overlap (xored? no, stranger than that)
|
||||
// this causes strange day/hour changes
|
||||
// we could track it here and even if we guess wrong initially
|
||||
// we can massage the data so that time doesn't jump
|
||||
// and maybe make the assumption that most people will fly at 5pm, not 1am
|
||||
// so if it looks if we have to make a choice between 5pm on the 10th and
|
||||
// this is part of the DJI protocol
|
||||
// see DJI.h for further info
|
||||
GpsTime.Year = (int16_t)gps->year + 2000;
|
||||
GpsTime.Month = gps->month;
|
||||
GpsTime.Day = gps->day;
|
||||
@ -316,10 +310,10 @@ static void parse_dji_mag(struct DJIPacket *dji, __attribute__((unused)) GPSPosi
|
||||
};
|
||||
int16_t maskmask;
|
||||
} u;
|
||||
u.mask = (int8_t) (dji->payload.payload[4]);
|
||||
u.mask = (int8_t)(dji->payload.payload[4]);
|
||||
u.mask = u.mask2 = (((u.mask ^ (u.mask >> 4)) & 0x0F) | ((u.mask << 3) & 0xF0)) ^ (((u.mask & 0x01) << 3) | ((u.mask & 0x01) << 7));
|
||||
// yes, z is only xored by mask<<8, not maskmask
|
||||
float mags[3] = { mag->x^u.maskmask, mag->y^u.maskmask, mag->z^((int16_t)u.mask<<8) };
|
||||
float mags[3] = { mag->x ^ u.maskmask, mag->y ^ u.maskmask, mag->z ^ ((int16_t)u.mask << 8) };
|
||||
auxmagsupport_publish_samples(mags, AUXMAGSENSOR_STATUS_OK);
|
||||
}
|
||||
|
||||
@ -330,9 +324,10 @@ static void parse_dji_ver(struct DJIPacket *dji, __attribute__((unused)) GPSPosi
|
||||
|
||||
// decode with xor mask
|
||||
uint8_t mask = (uint8_t)(ver->unused1);
|
||||
//for (uint8_t i=0; i<dji->header->len; ++i) {
|
||||
for (uint8_t i=4; i<12; ++i) {
|
||||
dji->payload.payload[i]^=mask;
|
||||
|
||||
// for (uint8_t i=0; i<dji->header->len; ++i) {
|
||||
for (uint8_t i = 4; i < 12; ++i) {
|
||||
dji->payload.payload[i] ^= mask;
|
||||
}
|
||||
|
||||
djiHwVersion = ver->hwVersion;
|
||||
|
||||
@ -229,10 +229,14 @@ int32_t GPSInitialize(void)
|
||||
size_t bufSize = 0;
|
||||
#endif
|
||||
#if defined(PIOS_INCLUDE_GPS_UBX_PARSER)
|
||||
if (bufSize < sizeof(struct UBXPacket)) bufSize = sizeof(struct UBXPacket);
|
||||
if (bufSize < sizeof(struct UBXPacket)) {
|
||||
bufSize = sizeof(struct UBXPacket);
|
||||
}
|
||||
#endif
|
||||
#if defined(PIOS_INCLUDE_GPS_DJI_PARSER)
|
||||
if (bufSize < sizeof(struct DJIPacket)) bufSize = sizeof(struct DJIPacket);
|
||||
if (bufSize < sizeof(struct DJIPacket)) {
|
||||
bufSize = sizeof(struct DJIPacket);
|
||||
}
|
||||
#endif
|
||||
gps_rx_buffer = pios_malloc(bufSize);
|
||||
#else /* defined(PIOS_INCLUDE_GPS_NMEA_PARSER) || defined(PIOS_INCLUDE_GPS_UBX_PARSER) || defined(PIOS_INCLUDE_GPS_DJI_PARSER) */
|
||||
@ -269,6 +273,7 @@ static void gpsTask(__attribute__((unused)) void *parameters)
|
||||
// 100ms is way slow too, considering we do everything possible to make the sensor data as contemporary as possible
|
||||
portTickType xDelay = 5 / portTICK_RATE_MS;
|
||||
uint32_t timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
|
||||
|
||||
#ifdef PIOS_GPS_SETS_HOMELOCATION
|
||||
portTickType homelocationSetDelay = 0;
|
||||
#endif
|
||||
@ -411,11 +416,11 @@ static void gpsTask(__attribute__((unused)) void *parameters)
|
||||
homelocationSetDelay = 0;
|
||||
}
|
||||
#endif
|
||||
// else if (we are at least getting what might be usable GPS data to finish a flight with) {
|
||||
// else if (we are at least getting what might be usable GPS data to finish a flight with) {
|
||||
} else if ((gpspositionsensor.Status == GPSPOSITIONSENSOR_STATUS_FIX3D) &&
|
||||
(gpspositionsensor.Latitude != 0 || gpspositionsensor.Longitude != 0)) {
|
||||
AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_WARNING);
|
||||
// else data is probably not good enough to fly
|
||||
// else data is probably not good enough to fly
|
||||
} else {
|
||||
AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_CRITICAL);
|
||||
}
|
||||
@ -536,15 +541,16 @@ void gps_set_fc_baud_from_arg(uint8_t baud)
|
||||
static void gps_set_fc_baud_from_settings()
|
||||
{
|
||||
uint8_t speed;
|
||||
|
||||
// Retrieve settings
|
||||
#if defined(PIOS_INCLUDE_GPS_DJI_PARSER) && !defined(PIOS_GPS_MINIMAL)
|
||||
if (gpsSettings.DataProtocol == GPSSETTINGS_DATAPROTOCOL_DJI) {
|
||||
speed = HWSETTINGS_GPSSPEED_115200;
|
||||
} else {
|
||||
#endif
|
||||
HwSettingsGPSSpeedGet(&speed);
|
||||
HwSettingsGPSSpeedGet(&speed);
|
||||
#if defined(PIOS_INCLUDE_GPS_DJI_PARSER) && !defined(PIOS_GPS_MINIMAL)
|
||||
}
|
||||
}
|
||||
#endif
|
||||
// set fc baud
|
||||
gps_set_fc_baud_from_arg(speed);
|
||||
|
||||
@ -131,7 +131,7 @@ int parse_ubx_stream(uint8_t *rx, uint16_t len, char *gps_rx_buffer, GPSPosition
|
||||
static enum proto_states proto_state = START;
|
||||
static uint16_t rx_count = 0;
|
||||
struct UBXPacket *ubx = (struct UBXPacket *)gps_rx_buffer;
|
||||
uint16_t i = 0;
|
||||
uint16_t i = 0;
|
||||
uint16_t restart_index = 0;
|
||||
enum restart_states restart_state;
|
||||
|
||||
@ -216,7 +216,7 @@ int parse_ubx_stream(uint8_t *rx, uint16_t len, char *gps_rx_buffer, GPSPosition
|
||||
// only pass PARSER_COMPLETE back to caller if we parsed a full set of GPS data
|
||||
// that allows the caller to know if we are parsing GPS data
|
||||
// or just other packets for some reason (mis-configuration)
|
||||
if (parse_ubx_message(ubx, GpsData)==GPSPOSITIONSENSOR_OBJID
|
||||
if (parse_ubx_message(ubx, GpsData) == GPSPOSITIONSENSOR_OBJID
|
||||
&& ret == PARSER_INCOMPLETE) {
|
||||
ret = PARSER_COMPLETE;
|
||||
}
|
||||
@ -236,7 +236,7 @@ int parse_ubx_stream(uint8_t *rx, uint16_t len, char *gps_rx_buffer, GPSPosition
|
||||
// if restarting due to error detected in 2nd call to this function (on split packet)
|
||||
// then we just restart at index 0, which is mid-packet, not the second byte
|
||||
if (restart_state == RESTART_WITH_ERROR) {
|
||||
ret = PARSER_ERROR; // inform caller that we found at least one error (along with 0 or more good packets)
|
||||
ret = PARSER_ERROR; // inform caller that we found at least one error (along with 0 or more good packets)
|
||||
}
|
||||
rx += restart_index; // restart parsing just past the most recent SYNC1
|
||||
len -= restart_index;
|
||||
|
||||
@ -39,8 +39,8 @@
|
||||
|
||||
#include "GPS.h"
|
||||
|
||||
#define DJI_SYNC1 0x55 // DJI protocol synchronization characters
|
||||
#define DJI_SYNC2 0xaa
|
||||
#define DJI_SYNC1 0x55 // DJI protocol synchronization characters
|
||||
#define DJI_SYNC2 0xaa
|
||||
|
||||
// Message IDs
|
||||
typedef enum {
|
||||
@ -52,268 +52,268 @@ typedef enum {
|
||||
// private structures
|
||||
|
||||
/*
|
||||
GPS protocol info from
|
||||
http://www.rcgroups.com/forums/showpost.php?p=26210591&postcount=15
|
||||
GPS protocol info from
|
||||
http://www.rcgroups.com/forums/showpost.php?p=26210591&postcount=15
|
||||
|
||||
The 0x10 message contains GPS data. Here is the structure of the message,
|
||||
fields marked with XX I'm not sure about yet. The others will be described below.
|
||||
The 0x10 message contains GPS data. Here is the structure of the message,
|
||||
fields marked with XX I'm not sure about yet. The others will be described below.
|
||||
|
||||
55 AA 10 3A DT DT DT DT LO LO LO LO LA LA LA LA AL AL AL AL HA HA HA HA VA VA VA VA XX XX XX XX
|
||||
NV NV NV NV EV EV EV EV DV DV DV DV PD PD VD VD ND ND ED ED NS XX FT XX SF XX XX XM SN SN CS CS
|
||||
55 AA 10 3A DT DT DT DT LO LO LO LO LA LA LA LA AL AL AL AL HA HA HA HA VA VA VA VA XX XX XX XX
|
||||
NV NV NV NV EV EV EV EV DV DV DV DV PD PD VD VD ND ND ED ED NS XX FT XX SF XX XX XM SN SN CS CS
|
||||
|
||||
The payload is XORed with a mask that changes over time (see below for more details).
|
||||
The payload is XORed with a mask that changes over time (see below for more details).
|
||||
|
||||
Values in the message are stored in little endian.
|
||||
Values in the message are stored in little endian.
|
||||
|
||||
HEADER
|
||||
-------------
|
||||
BYTE 1-2: message header - always 55 AA
|
||||
BYTE 3: message id (0x10 for GPS message)
|
||||
BYTE 4: lenght of the payload (0x3A or 58 decimal for 0x10 message)
|
||||
HEADER
|
||||
-------------
|
||||
BYTE 1-2: message header - always 55 AA
|
||||
BYTE 3: message id (0x10 for GPS message)
|
||||
BYTE 4: lenght of the payload (0x3A or 58 decimal for 0x10 message)
|
||||
|
||||
PAYLOAD
|
||||
--------------
|
||||
BYTE 5-8 (DT) : date and time, see details below
|
||||
BYTE 9-12 (LO) : longitude (x10^7, degree decimal)
|
||||
BYTE 13-16 (LA): latitude (x10^7, degree decimal)
|
||||
BYTE 17-20 (AL): altitude (in milimeters)
|
||||
BYTE 21-24 (HA): horizontal accuracy estimate (see uBlox NAV-POSLLH message for details)
|
||||
BYTE 25-28 (VA): vertical accuracy estimate (see uBlox NAV-POSLLH message for details)
|
||||
BYTE 29-32 : ??? (seems to be always 0)
|
||||
BYTE 33-36 (NV): NED north velocity (see uBlox NAV-VELNED message for details)
|
||||
BYTE 37-40 (EV): NED east velocity (see uBlox NAV-VELNED message for details)
|
||||
BYTE 41-44 (DV): NED down velocity (see uBlox NAV-VELNED message for details)
|
||||
BYTE 45-46 (PD): position DOP (see uBlox NAV-DOP message for details)
|
||||
BYTE 47-48 (VD): vertical DOP (see uBlox NAV-DOP message for details)
|
||||
BYTE 49-50 (ND): northing DOP (see uBlox NAV-DOP message for details)
|
||||
BYTE 51-52 (ED): easting DOP (see uBlox NAV-DOP message for details)
|
||||
BYTE 53 (NS) : number of satellites (not XORed)
|
||||
BYTE 54 : ??? (not XORed, seems to be always 0)
|
||||
BYTE 55 (FT) : fix type (0 - no lock, 2 - 2D lock, 3 - 3D lock, not sure if other values can be expected
|
||||
PAYLOAD
|
||||
--------------
|
||||
BYTE 5-8 (DT) : date and time, see details below
|
||||
BYTE 9-12 (LO) : longitude (x10^7, degree decimal)
|
||||
BYTE 13-16 (LA): latitude (x10^7, degree decimal)
|
||||
BYTE 17-20 (AL): altitude (in milimeters)
|
||||
BYTE 21-24 (HA): horizontal accuracy estimate (see uBlox NAV-POSLLH message for details)
|
||||
BYTE 25-28 (VA): vertical accuracy estimate (see uBlox NAV-POSLLH message for details)
|
||||
BYTE 29-32 : ??? (seems to be always 0)
|
||||
BYTE 33-36 (NV): NED north velocity (see uBlox NAV-VELNED message for details)
|
||||
BYTE 37-40 (EV): NED east velocity (see uBlox NAV-VELNED message for details)
|
||||
BYTE 41-44 (DV): NED down velocity (see uBlox NAV-VELNED message for details)
|
||||
BYTE 45-46 (PD): position DOP (see uBlox NAV-DOP message for details)
|
||||
BYTE 47-48 (VD): vertical DOP (see uBlox NAV-DOP message for details)
|
||||
BYTE 49-50 (ND): northing DOP (see uBlox NAV-DOP message for details)
|
||||
BYTE 51-52 (ED): easting DOP (see uBlox NAV-DOP message for details)
|
||||
BYTE 53 (NS) : number of satellites (not XORed)
|
||||
BYTE 54 : ??? (not XORed, seems to be always 0)
|
||||
BYTE 55 (FT) : fix type (0 - no lock, 2 - 2D lock, 3 - 3D lock, not sure if other values can be expected
|
||||
: see uBlox NAV-SOL message for details)
|
||||
BYTE 56 : ??? (seems to be always 0)
|
||||
BYTE 57 (SF) : fix status flags (see uBlox NAV-SOL message for details)
|
||||
BYTE 58-59 : ??? (seems to be always 0)
|
||||
BYTE 60 (XM) : not sure yet, but I use it as the XOR mask
|
||||
BYTE 61-62 (SN): sequence number (not XORed), once there is a lock - increases with every message.
|
||||
BYTE 56 : ??? (seems to be always 0)
|
||||
BYTE 57 (SF) : fix status flags (see uBlox NAV-SOL message for details)
|
||||
BYTE 58-59 : ??? (seems to be always 0)
|
||||
BYTE 60 (XM) : not sure yet, but I use it as the XOR mask
|
||||
BYTE 61-62 (SN): sequence number (not XORed), once there is a lock - increases with every message.
|
||||
When the lock is lost later LSB and MSB are swapped with every message.
|
||||
|
||||
CHECKSUM
|
||||
-----------------
|
||||
BYTE 63-64 (CS): checksum, calculated the same way as for uBlox binary messages
|
||||
CHECKSUM
|
||||
-----------------
|
||||
BYTE 63-64 (CS): checksum, calculated the same way as for uBlox binary messages
|
||||
|
||||
|
||||
XOR mask
|
||||
---------------
|
||||
All bytes of the payload except 53rd (NS), 54th, 61st (SN LSB) and 62nd (SN MSB) are XORed with a mask.
|
||||
Mask is calculated based on the value of byte 53rd (NS) and 61st (SN LSB).
|
||||
XOR mask
|
||||
---------------
|
||||
All bytes of the payload except 53rd (NS), 54th, 61st (SN LSB) and 62nd (SN MSB) are XORed with a mask.
|
||||
Mask is calculated based on the value of byte 53rd (NS) and 61st (SN LSB).
|
||||
|
||||
If we index bits from LSB to MSB as 0-7 we have:
|
||||
mask[0] = 53rdByte[0] xor 61stByte[4]
|
||||
mask[1] = 53rdByte[1] xor 61stByte[5]
|
||||
mask[2] = 53rdByte[2] xor 61stByte[6]
|
||||
mask[3] = 53rdByte[3] xor 61stByte[7] xor 53rdByte[0];
|
||||
mask[4] = 53rdByte[1];
|
||||
mask[5] = 53rdByte[2];
|
||||
mask[6] = 53rdByte[3];
|
||||
mask[7] = 53rdByte[0] xor 61stByte[4];
|
||||
If we index bits from LSB to MSB as 0-7 we have:
|
||||
mask[0] = 53rdByte[0] xor 61stByte[4]
|
||||
mask[1] = 53rdByte[1] xor 61stByte[5]
|
||||
mask[2] = 53rdByte[2] xor 61stByte[6]
|
||||
mask[3] = 53rdByte[3] xor 61stByte[7] xor 53rdByte[0];
|
||||
mask[4] = 53rdByte[1];
|
||||
mask[5] = 53rdByte[2];
|
||||
mask[6] = 53rdByte[3];
|
||||
mask[7] = 53rdByte[0] xor 61stByte[4];
|
||||
|
||||
To simplify calculations any of the unknown bytes that when XORer seem to be always 0 (29-32, 56, 58-60)
|
||||
can be used as XOR mask (based on the fact that 0 XOR mask == mask). In the library I use byte 60.
|
||||
To simplify calculations any of the unknown bytes that when XORer seem to be always 0 (29-32, 56, 58-60)
|
||||
can be used as XOR mask (based on the fact that 0 XOR mask == mask). In the library I use byte 60.
|
||||
|
||||
Date and time format
|
||||
----------------------------
|
||||
Date (Year, Month, Day) and time (Hour, Minute, Second) are stored as little endian 32bit unsigned integer,
|
||||
the meaning of particular bits is as follows:
|
||||
Date and time format
|
||||
----------------------------
|
||||
Date (Year, Month, Day) and time (Hour, Minute, Second) are stored as little endian 32bit unsigned integer,
|
||||
the meaning of particular bits is as follows:
|
||||
|
||||
YYYYYYYMMMMDDDDDHHHHMMMMMMSSSSSS
|
||||
YYYYYYYMMMMDDDDDHHHHMMMMMMSSSSSS
|
||||
|
||||
NOTE 1: to get the day value correct you must add 1 when hour is > 7
|
||||
NOTE 2: for the time between 16:00 and 23:59 the hour will be returned as 0-7
|
||||
NOTE 1: to get the day value correct you must add 1 when hour is > 7
|
||||
NOTE 2: for the time between 16:00 and 23:59 the hour will be returned as 0-7
|
||||
and there seems to be no way to differentiate between 00:00 - 07:59 and 16:00 - 23:59.
|
||||
From further discussion in the thread, it sounds like the day is written into the buffer
|
||||
(buffer initially zero bits) and then the hour is xored into the buffer
|
||||
with the bottom bit of day and top bit of hour mapped to the same buffer bit?
|
||||
Is that even correct? Or could we have a correct hour and the day is just wrong?
|
||||
|
||||
http://www.rcgroups.com/forums/showpost.php?p=28158918&postcount=180
|
||||
Midnight between 13th and 14th of March
|
||||
0001110 0011 01110 0000 000000 000000 -> 14.3.14 00:00:00 -> 0
|
||||
identical with
|
||||
4PM, 14th of March
|
||||
0001110 0011 01110 0000 000000 000000 -> 14.3.14 00:00:00 -> 0
|
||||
From further discussion in the thread, it sounds like the day is written into the buffer
|
||||
(buffer initially zero bits) and then the hour is xored into the buffer
|
||||
with the bottom bit of day and top bit of hour mapped to the same buffer bit?
|
||||
Is that even correct? Or could we have a correct hour and the day is just wrong?
|
||||
|
||||
Midnight between 14th and 15th of March
|
||||
0001110 0011 01111 0000 000000 000000 -> 14.3.15 00:00:00 -> 16
|
||||
identical with
|
||||
4PM, 15th of March
|
||||
0001110 0011 01111 0000 000000 000000 -> 14.3.15 00:00:00 -> 16
|
||||
http://www.rcgroups.com/forums/showpost.php?p=28158918&postcount=180
|
||||
Midnight between 13th and 14th of March
|
||||
0001110 0011 01110 0000 000000 000000 -> 14.3.14 00:00:00 -> 0
|
||||
identical with
|
||||
4PM, 14th of March
|
||||
0001110 0011 01110 0000 000000 000000 -> 14.3.14 00:00:00 -> 0
|
||||
|
||||
So as you can see even if we take 5 bits the hour is not correct either
|
||||
Are they are xored? If we knew the date from a different source we would know the time.
|
||||
Maybe the xor mask itself contains the bit. Does the mask change? and how? across the transitions.
|
||||
Midnight between 14th and 15th of March
|
||||
0001110 0011 01111 0000 000000 000000 -> 14.3.15 00:00:00 -> 16
|
||||
identical with
|
||||
4PM, 15th of March
|
||||
0001110 0011 01111 0000 000000 000000 -> 14.3.15 00:00:00 -> 16
|
||||
|
||||
http://www.rcgroups.com/forums/showpost.php?p=28168741&postcount=182
|
||||
Originally Posted by gwouite View Post
|
||||
Question, are you sure that at 4PM, you're day value doesn't increase of 1 ?
|
||||
It does, but it also does decrease by 1 at 8am so you have:
|
||||
00:00 - 07:59 => day = X, hour = 0 - 7
|
||||
08:00 - 15:59 => day = X - 1, hour = 8 - 15
|
||||
16:00 - 23:59 => day = X, hour = 0 - 7
|
||||
So as you can see even if we take 5 bits the hour is not correct either
|
||||
Are they are xored? If we knew the date from a different source we would know the time.
|
||||
Maybe the xor mask itself contains the bit. Does the mask change? and how? across the transitions.
|
||||
|
||||
http://www.rcgroups.com/forums/showpost.php?p=28782603&postcount=218
|
||||
Here is the SBAS config from the Naza GPS
|
||||
CFG-SBAS - 06 16 08 00 01 03 03 00 51 62 06 00
|
||||
If I read it correctly EGNOS (PRN 124/124/126), MSAS (PRN 129/137) and WAAS (PRN 133/134/135/138) are enabled.
|
||||
*/
|
||||
http://www.rcgroups.com/forums/showpost.php?p=28168741&postcount=182
|
||||
Originally Posted by gwouite View Post
|
||||
Question, are you sure that at 4PM, you're day value doesn't increase of 1 ?
|
||||
It does, but it also does decrease by 1 at 8am so you have:
|
||||
00:00 - 07:59 => day = X, hour = 0 - 7
|
||||
08:00 - 15:59 => day = X - 1, hour = 8 - 15
|
||||
16:00 - 23:59 => day = X, hour = 0 - 7
|
||||
|
||||
http://www.rcgroups.com/forums/showpost.php?p=28782603&postcount=218
|
||||
Here is the SBAS config from the Naza GPS
|
||||
CFG-SBAS - 06 16 08 00 01 03 03 00 51 62 06 00
|
||||
If I read it correctly EGNOS (PRN 124/124/126), MSAS (PRN 129/137) and WAAS (PRN 133/134/135/138) are enabled.
|
||||
*/
|
||||
|
||||
// DJI GPS packet
|
||||
struct DJI_GPS { // byte offset from beginning of packet, subtract 5 for struct offset
|
||||
struct { // YYYYYYYMMMMDDDDDHHHHMMMMMMSSSSSS
|
||||
uint32_t sec:6;
|
||||
uint32_t min:6;
|
||||
uint32_t hour:4;
|
||||
uint32_t day:5;
|
||||
uint32_t month:4;
|
||||
uint32_t year:7;
|
||||
}; // BYTE 5-8 (DT): date and time, see details above
|
||||
struct DJI_GPS { // byte offset from beginning of packet, subtract 5 for struct offset
|
||||
struct { // YYYYYYYMMMMDDDDDHHHHMMMMMMSSSSSS
|
||||
uint32_t sec : 6;
|
||||
uint32_t min : 6;
|
||||
uint32_t hour : 4;
|
||||
uint32_t day : 5;
|
||||
uint32_t month : 4;
|
||||
uint32_t year : 7;
|
||||
}; // BYTE 5-8 (DT): date and time, see details above
|
||||
int32_t lon; // BYTE 9-12 (LO): longitude (x10^7, degree decimal)
|
||||
int32_t lat; // BYTE 13-16 (LA): latitude (x10^7, degree decimal)
|
||||
int32_t hMSL; // BYTE 17-20 (AL): altitude (in millimeters) (is this MSL or geoid?)
|
||||
uint32_t hAcc; // BYTE 21-24 (HA): horizontal accuracy estimate (see uBlox NAV-POSLLH message for details)
|
||||
uint32_t vAcc; // BYTE 25-28 (VA): vertical accuracy estimate (see uBlox NAV-POSLLH message for details)
|
||||
uint32_t unused1; // BYTE 29-32: ??? (seems to be always 0)
|
||||
uint32_t hAcc; // BYTE 21-24 (HA): horizontal accuracy estimate (see uBlox NAV-POSLLH message for details)
|
||||
uint32_t vAcc; // BYTE 25-28 (VA): vertical accuracy estimate (see uBlox NAV-POSLLH message for details)
|
||||
uint32_t unused1; // BYTE 29-32: ??? (seems to be always 0)
|
||||
int32_t velN; // BYTE 33-36 (NV): NED north velocity (see uBlox NAV-VELNED message for details)
|
||||
int32_t velE; // BYTE 37-40 (EV): NED east velocity (see uBlox NAV-VELNED message for details)
|
||||
int32_t velD; // BYTE 41-44 (DV): NED down velocity (see uBlox NAV-VELNED message for details)
|
||||
uint16_t pDOP; // BYTE 45-46 (PD): position DOP (see uBlox NAV-DOP message for details)
|
||||
uint16_t vDOP; // BYTE 47-48 (VD): vertical DOP (see uBlox NAV-DOP message for details)
|
||||
uint16_t nDOP; // BYTE 49-50 (ND): northing DOP (see uBlox NAV-DOP message for details)
|
||||
uint16_t eDOP; // BYTE 51-52 (ED): easting DOP (see uBlox NAV-DOP message for details)
|
||||
uint16_t pDOP; // BYTE 45-46 (PD): position DOP (see uBlox NAV-DOP message for details)
|
||||
uint16_t vDOP; // BYTE 47-48 (VD): vertical DOP (see uBlox NAV-DOP message for details)
|
||||
uint16_t nDOP; // BYTE 49-50 (ND): northing DOP (see uBlox NAV-DOP message for details)
|
||||
uint16_t eDOP; // BYTE 51-52 (ED): easting DOP (see uBlox NAV-DOP message for details)
|
||||
uint8_t numSV; // BYTE 53 (NS): number of satellites (not XORed)
|
||||
uint8_t unused2; // BYTE 54: ??? (not XORed, seems to be always 0)
|
||||
uint8_t fixType; // BYTE 55 (FT): fix type (0 - no lock, 2 - 2D lock, 3 - 3D lock, not sure if other values can be expected
|
||||
// see uBlox NAV-SOL message for details)
|
||||
uint8_t unused3; // BYTE 56: ??? (seems to be always 0)
|
||||
uint8_t flags; // BYTE 57 (SF): fix status flags (see uBlox NAV-SOL message for details)
|
||||
uint16_t unused4; // BYTE 58-59: ??? (seems to be always 0)
|
||||
uint16_t unused4; // BYTE 58-59: ??? (seems to be always 0)
|
||||
uint8_t unused5; // BYTE 60 (XM): not sure yet, but I use it as the XOR mask
|
||||
uint16_t seqNo; // BYTE 61-62 (SN): sequence number (not XORed), once there is a lock
|
||||
// increases with every message. When the lock is lost later LSB and MSB are swapped with every message.
|
||||
uint16_t seqNo; // BYTE 61-62 (SN): sequence number (not XORed), once there is a lock
|
||||
// increases with every message. When the lock is lost later LSB and MSB are swapped with every message.
|
||||
} __attribute__((packed));
|
||||
|
||||
#define FLAGS_GPSFIX_OK (1 << 0)
|
||||
#define FLAGS_DIFFSOLN (1 << 1)
|
||||
#define FLAGS_WKNSET (1 << 2)
|
||||
#define FLAGS_TOWSET (1 << 3)
|
||||
#define FLAGS_GPSFIX_OK (1 << 0)
|
||||
#define FLAGS_DIFFSOLN (1 << 1)
|
||||
#define FLAGS_WKNSET (1 << 2)
|
||||
#define FLAGS_TOWSET (1 << 3)
|
||||
|
||||
#define FIXTYPE_NO_FIX 0
|
||||
#define FIXTYPE_DEAD_RECKON 0x01 // Dead Reckoning only
|
||||
#define FIXTYPE_2D 0x02 // 2D-Fix
|
||||
#define FIXTYPE_3D 0x03 // 3D-Fix
|
||||
#define FIXTYPE_GNSS_DEAD_RECKON 0x04 // GNSS + dead reckoning combined
|
||||
#define FIXTYPE_TIME_ONLY 0x05 // Time only fix
|
||||
#define FIXTYPE_NO_FIX 0
|
||||
#define FIXTYPE_DEAD_RECKON 0x01 // Dead Reckoning only
|
||||
#define FIXTYPE_2D 0x02 // 2D-Fix
|
||||
#define FIXTYPE_3D 0x03 // 3D-Fix
|
||||
#define FIXTYPE_GNSS_DEAD_RECKON 0x04 // GNSS + dead reckoning combined
|
||||
#define FIXTYPE_TIME_ONLY 0x05 // Time only fix
|
||||
|
||||
|
||||
/*
|
||||
mag protocol info from
|
||||
http://www.rcgroups.com/forums/showpost.php?p=26248426&postcount=62
|
||||
mag protocol info from
|
||||
http://www.rcgroups.com/forums/showpost.php?p=26248426&postcount=62
|
||||
|
||||
The 0x20 message contains compass data. Here is the structure of the message,
|
||||
fields marked with XX I'm not sure about yet. The others will be described below.
|
||||
The 0x20 message contains compass data. Here is the structure of the message,
|
||||
fields marked with XX I'm not sure about yet. The others will be described below.
|
||||
|
||||
55 AA 20 06 CX CX CY CY CZ CZ CS CS
|
||||
55 AA 20 06 CX CX CY CY CZ CZ CS CS
|
||||
|
||||
Values in the message are stored in little endian.
|
||||
Values in the message are stored in little endian.
|
||||
|
||||
HEADER
|
||||
-------------
|
||||
BYTE 1-2: message header - always 55 AA
|
||||
BYTE 3: message id (0x20 for compass message)
|
||||
BYTE 4: length of the payload (0x06 or 6 decimal for 0x20 message)
|
||||
HEADER
|
||||
-------------
|
||||
BYTE 1-2: message header - always 55 AA
|
||||
BYTE 3: message id (0x20 for compass message)
|
||||
BYTE 4: length of the payload (0x06 or 6 decimal for 0x20 message)
|
||||
|
||||
PAYLOAD
|
||||
--------------
|
||||
BYTE 5-6 (CX): compass X axis data (signed) - see comments below
|
||||
BYTE 7-8 (CY): compass Y axis data (signed) - see comments below
|
||||
BYTE 9-10 (CZ): compass Z axis data (signed) - see comments below
|
||||
PAYLOAD
|
||||
--------------
|
||||
BYTE 5-6 (CX): compass X axis data (signed) - see comments below
|
||||
BYTE 7-8 (CY): compass Y axis data (signed) - see comments below
|
||||
BYTE 9-10 (CZ): compass Z axis data (signed) - see comments below
|
||||
|
||||
CHECKSUM
|
||||
-----------------
|
||||
BYTE 11-12 (CS): checksum, calculated the same way as for uBlox binary messages
|
||||
CHECKSUM
|
||||
-----------------
|
||||
BYTE 11-12 (CS): checksum, calculated the same way as for uBlox binary messages
|
||||
|
||||
All the bytes of the payload except 9th are XORed with a mask.
|
||||
Mask is calculated based on the value of the 9th byte.
|
||||
All the bytes of the payload except 9th are XORed with a mask.
|
||||
Mask is calculated based on the value of the 9th byte.
|
||||
|
||||
If we index bits from LSB to MSB as 0-7 we have:
|
||||
mask[0] = 9thByte[0] xor 9thByte[4]
|
||||
mask[1] = 9thByte[1] xor 9thByte[5]
|
||||
mask[2] = 9thByte[2] xor 9thByte[6]
|
||||
mask[3] = 9thByte[3] xor 9thByte[7] xor 9thByte[0];
|
||||
mask[4] = 9thByte[1];
|
||||
mask[5] = 9thByte[2];
|
||||
mask[6] = 9thByte[3];
|
||||
mask[7] = 9thByte[4] xor 9thByte[0];
|
||||
If we index bits from LSB to MSB as 0-7 we have:
|
||||
mask[0] = 9thByte[0] xor 9thByte[4]
|
||||
mask[1] = 9thByte[1] xor 9thByte[5]
|
||||
mask[2] = 9thByte[2] xor 9thByte[6]
|
||||
mask[3] = 9thByte[3] xor 9thByte[7] xor 9thByte[0];
|
||||
mask[4] = 9thByte[1];
|
||||
mask[5] = 9thByte[2];
|
||||
mask[6] = 9thByte[3];
|
||||
mask[7] = 9thByte[4] xor 9thByte[0];
|
||||
|
||||
To calculate the heading (not tilt compensated) you need to do atan2 on the resulting
|
||||
y any a (y and x?) values, convert radians to degrees and add 360 if the result is negative.
|
||||
*/
|
||||
To calculate the heading (not tilt compensated) you need to do atan2 on the resulting
|
||||
y any a (y and x?) values, convert radians to degrees and add 360 if the result is negative.
|
||||
*/
|
||||
|
||||
struct DJI_MAG { // byte offset from beginning of packet, subtract 5 for struct offset
|
||||
int16_t x; // BYTE 5-6 (CX): compass X axis data (signed) - see comments below
|
||||
int16_t y; // BYTE 7-8 (CY): compass Y axis data (signed) - see comments below
|
||||
int16_t z; // BYTE 9-10 (CZ): compass Z axis data (signed) - see comments below
|
||||
int16_t x; // BYTE 5-6 (CX): compass X axis data (signed) - see comments below
|
||||
int16_t y; // BYTE 7-8 (CY): compass Y axis data (signed) - see comments below
|
||||
int16_t z; // BYTE 9-10 (CZ): compass Z axis data (signed) - see comments below
|
||||
} __attribute__((packed));
|
||||
|
||||
|
||||
/*
|
||||
version info from
|
||||
http://www.rcgroups.com/forums/showpost.php?p=27058649&postcount=120
|
||||
version info from
|
||||
http://www.rcgroups.com/forums/showpost.php?p=27058649&postcount=120
|
||||
|
||||
This is still to be confirmed but I believe the 0x30 message carries the GPS module hardware id and firmware version.
|
||||
This is still to be confirmed but I believe the 0x30 message carries the GPS module hardware id and firmware version.
|
||||
|
||||
55 AA 30 0C XX XX XX XX FW FW FW FW HW HW HW HW CS CS
|
||||
55 AA 30 0C XX XX XX XX FW FW FW FW HW HW HW HW CS CS
|
||||
|
||||
Note that you need to read version numbers backwards (02 01 00 06 means v6.0.1.2)
|
||||
Note that you need to read version numbers backwards (02 01 00 06 means v6.0.1.2)
|
||||
|
||||
HEADER
|
||||
-------------
|
||||
BYTE 1-2: message header - always 55 AA
|
||||
BYTE 3: message id (0x30 for GPS module versions message)
|
||||
BYTE 4: length of the payload (0x0C or 12 decimal for 0x30 message)
|
||||
HEADER
|
||||
-------------
|
||||
BYTE 1-2: message header - always 55 AA
|
||||
BYTE 3: message id (0x30 for GPS module versions message)
|
||||
BYTE 4: length of the payload (0x0C or 12 decimal for 0x30 message)
|
||||
|
||||
PAYLOAD
|
||||
--------------
|
||||
BYTE 5-8" ??? (seems to be always 0)
|
||||
BYTE 9-12 (FW): firmware version
|
||||
BYTE 13-16 (HW): hardware id
|
||||
PAYLOAD
|
||||
--------------
|
||||
BYTE 5-8" ??? (seems to be always 0)
|
||||
BYTE 9-12 (FW): firmware version
|
||||
BYTE 13-16 (HW): hardware id
|
||||
|
||||
CHECKSUM
|
||||
-----------------
|
||||
BYTE 17-18 (CS): checksum, calculated the same way as for uBlox binary messages
|
||||
*/
|
||||
CHECKSUM
|
||||
-----------------
|
||||
BYTE 17-18 (CS): checksum, calculated the same way as for uBlox binary messages
|
||||
*/
|
||||
|
||||
struct DJI_VER { // byte offset from beginning of packet, subtract 5 for struct offset
|
||||
uint32_t unused1; // BYTE 5-8" ??? (seems to be always 0)
|
||||
uint32_t swVersion; // BYTE 9-12 (FW): firmware version
|
||||
uint32_t hwVersion; // BYTE 13-16 (HW): hardware id
|
||||
struct DJI_VER { // byte offset from beginning of packet, subtract 5 for struct offset
|
||||
uint32_t unused1; // BYTE 5-8" ??? (seems to be always 0)
|
||||
uint32_t swVersion; // BYTE 9-12 (FW): firmware version
|
||||
uint32_t hwVersion; // BYTE 13-16 (HW): hardware id
|
||||
} __attribute__((packed));
|
||||
|
||||
|
||||
|
||||
typedef union {
|
||||
uint8_t payload[0];
|
||||
// Nav Class
|
||||
struct DJI_GPS gps;
|
||||
struct DJI_MAG mag;
|
||||
struct DJI_VER ver;
|
||||
struct DJI_GPS gps;
|
||||
struct DJI_MAG mag;
|
||||
struct DJI_VER ver;
|
||||
} DJIPayload;
|
||||
|
||||
struct DJIHeader {
|
||||
uint8_t id;
|
||||
uint8_t len;
|
||||
uint8_t ck_a; // these are not part of the dji header, they are actually in the trailer
|
||||
uint8_t ck_b; // but they are kept here for parsing ease
|
||||
uint8_t id;
|
||||
uint8_t len;
|
||||
uint8_t ck_a; // these are not part of the dji header, they are actually in the trailer
|
||||
uint8_t ck_b; // but they are kept here for parsing ease
|
||||
} __attribute__((packed));
|
||||
|
||||
struct DJIPacket {
|
||||
|
||||
@ -387,7 +387,7 @@ static void processSamples3d(sensor_fetch_context *sensor_context, const PIOS_SE
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
|| (sensor->type == PIOS_SENSORS_TYPE_3AXIS_AUXMAG)
|
||||
#endif
|
||||
) {
|
||||
) {
|
||||
float t = inv_count * scales[0];
|
||||
samples[0] = ((float)sensor_context->accum[0].x * t);
|
||||
samples[1] = ((float)sensor_context->accum[0].y * t);
|
||||
@ -398,11 +398,13 @@ static void processSamples3d(sensor_fetch_context *sensor_context, const PIOS_SE
|
||||
handleMag(samples, temperature);
|
||||
PERF_MEASURE_PERIOD(counterMagPeriod);
|
||||
return;
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
case PIOS_SENSORS_TYPE_3AXIS_AUXMAG:
|
||||
handleAuxMag(samples);
|
||||
PERF_MEASURE_PERIOD(counterMagPeriod);
|
||||
return;
|
||||
|
||||
#endif
|
||||
default:
|
||||
PERF_TRACK_VALUE(counterAccelSamples, sensor_context->count);
|
||||
@ -632,7 +634,8 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv)
|
||||
}
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
void aux_hmc5x83_load_mag_settings() {
|
||||
void aux_hmc5x83_load_mag_settings()
|
||||
{
|
||||
uint8_t magType = auxmagsupport_get_type();
|
||||
|
||||
if (magType == AUXMAGSETTINGS_TYPE_I2C || magType == AUXMAGSETTINGS_TYPE_FLEXI) {
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user