fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 04:13:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

U-blox driver rework, step 2

Browse Source 
Moved satellite info from vehicle_gps_position_s into a new uORB topic
satellite_info.
Renamed satellites_visible to satellites_used to reflect true content.
sdlog2 will log info for GPS satellites only for now.
This commit is contained in:
Kynos
2014-05-30 14:30:25 +02:00
parent 7349fa9037
commit 9bad828bc0
12 changed files with 130 additions and 40 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/gps/ubx.cpp
+2 -1
View File
@@ -55,6 +55,7 @@
#include <systemlib/err.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/satellite_info.h>
#include <drivers/drv_hrt.h>
#include "ubx.h"
@@ -451,7 +452,7 @@ UBX::handle_message()
_gps_position->s_variance_m_s = packet->sAcc;
_gps_position->p_variance_m = packet->pAcc;
_gps_position->timestamp_variance = hrt_absolute_time();
_gps_position->satellites_visible = packet->numSV;
_gps_position->satellites_used = packet->numSV;
ret = 1;
break;