fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-06 07:31:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

Deamonized GPS app, fixed GPS issues, reworking RC input

Browse Source
This commit is contained in:
Lorenz Meier
2012-09-12 17:22:24 +02:00
parent 31ecc4d5df
commit c815aff842
5 changed files with 127 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/gps/mtk.c
+3 -3
View File
@@ -121,7 +121,7 @@ int mtk_parse(uint8_t b, char *gps_rx_buffer)
if (mtk_state->ck_a == packet->ck_a && mtk_state->ck_b == packet->ck_b) {
mtk_gps->lat = packet->latitude * 10; // mtk: degrees*1e6, mavlink/ubx: degrees*1e7
mtk_gps->lon = packet->longitude * 10; // mtk: degrees*1e6, mavlink/ubx: degrees*1e7
mtk_gps->alt = (int32_t)packet->msl_altitude * 10; // conversion from centimeters to millimeters, and from uint32_t to int16_t
mtk_gps->alt = (int32_t)(packet->msl_altitude * 10); // conversion from centimeters to millimeters, and from uint32_t to int16_t
mtk_gps->fix_type = packet->fix_type;
mtk_gps->eph = packet->hdop;
mtk_gps->epv = 65535; //unknown in mtk custom mode
@@ -311,14 +311,14 @@ void *mtk_loop(void *arg)
/* advertise GPS topic */
struct vehicle_gps_position_s mtk_gps_d;
mtk_gps = &mtk_gps_d;
orb_advert_t gps_handle = orb_advertise(ORB_ID(vehicle_gps_position), &mtk_gps);
orb_advert_t gps_handle = orb_advertise(ORB_ID(vehicle_gps_position), mtk_gps);
while (1) {
/* Parse a message from the gps receiver */
if (OK == read_gps_mtk(fd, gps_rx_buffer, MTK_BUFFER_SIZE)) {
/* publish new GPS position */
orb_publish(ORB_ID(vehicle_gps_position), gps_handle, &mtk_gps);
orb_publish(ORB_ID(vehicle_gps_position), gps_handle, mtk_gps);
} else {
break;