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Merged ETS airspeed driver

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Lorenz Meier
2013-05-09 15:58:23 +02:00
parent 3152dae3dc 5b60991c63
commit 614bbb1510
14 changed files with 1127 additions and 62 deletions
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src/drivers/hott_telemetry/messages.c
+12
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@@ -42,9 +42,11 @@
#include <string.h>
#include <systemlib/systemlib.h>
#include <unistd.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/sensor_combined.h>
static int airspeed_sub = -1;
static int battery_sub = -1;
static int sensor_sub = -1;
@@ -52,6 +54,7 @@ void messages_init(void)
{
battery_sub = orb_subscribe(ORB_ID(battery_status));
sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
airspeed_sub = orb_subscribe(ORB_ID(airspeed));
}
void build_eam_response(uint8_t *buffer, int *size)
@@ -81,6 +84,15 @@ void build_eam_response(uint8_t *buffer, int *size)
msg.altitude_L = (uint8_t)alt & 0xff;
msg.altitude_H = (uint8_t)(alt >> 8) & 0xff;
/* get a local copy of the current sensor values */
struct airspeed_s airspeed;
memset(&airspeed, 0, sizeof(airspeed));
orb_copy(ORB_ID(airspeed), airspeed_sub, &airspeed);
uint16_t speed = (uint16_t)(airspeed.indicated_airspeed_m_s * 3.6);
msg.speed_L = (uint8_t)speed & 0xff;
msg.speed_H = (uint8_t)(speed >> 8) & 0xff;
msg.stop = STOP_BYTE;
memcpy(buffer, &msg, *size);