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combine sensor_gps + vehicle_gps_position msgs (keeping separate topics)

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Daniel Agar
2022-07-07 10:24:11 -04:00
parent 32ae00fd44
commit 15223009d2
29 changed files with 77 additions and 142 deletions
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src/drivers/telemetry/frsky_telemetry/sPort_data.cpp
+3 -3
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@@ -58,7 +58,7 @@
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/sensor_gps.h>
#include <drivers/drv_hrt.h>
@@ -69,7 +69,7 @@ struct s_port_subscription_data_s {
uORB::SubscriptionData<vehicle_acceleration_s> vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
uORB::SubscriptionData<vehicle_air_data_s> vehicle_air_data_sub{ORB_ID(vehicle_air_data)};
uORB::SubscriptionData<vehicle_global_position_s> vehicle_global_position_sub{ORB_ID(vehicle_global_position)};
uORB::SubscriptionData<vehicle_gps_position_s> vehicle_gps_position_sub{ORB_ID(vehicle_gps_position)};
uORB::SubscriptionData<sensor_gps_s> vehicle_gps_position_sub{ORB_ID(vehicle_gps_position)};
uORB::SubscriptionData<vehicle_local_position_s> vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
uORB::SubscriptionData<vehicle_status_s> vehicle_status_sub{ORB_ID(vehicle_status)};
};
@@ -336,6 +336,6 @@ void sPort_send_flight_mode(int uart)
void sPort_send_GPS_info(int uart)
{
const vehicle_gps_position_s &gps = s_port_subscription_data->vehicle_gps_position_sub.get();
const sensor_gps_s &gps = s_port_subscription_data->vehicle_gps_position_sub.get();
sPort_send_data(uart, FRSKY_ID_TEMP2, gps.satellites_used * 10 + gps.fix_type);
}