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HIL bugfixing

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This commit is contained in:
Lorenz Meier
2013-04-25 17:25:42 +02:00
parent d62058eccf
commit ed9fbbce59
4 changed files with 43 additions and 30 deletions
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apps/drivers/gps/ubx.cpp
+13 -5
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@@ -33,7 +33,14 @@
*
****************************************************************************/
/* @file U-Blox protocol implementation */
/**
* @file ubx.cpp
*
* U-Blox protocol implementation. Following u-blox 6/7 Receiver Description
* including Prototol Specification.
*
* @see http://www.u-blox.com/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf
*/
#include <unistd.h>
#include <stdio.h>
@@ -633,16 +640,17 @@ UBX::handle_message()
}
case NAV_VELNED: {
// printf("GOT NAV_VELNED MESSAGE\n");
if (!_waiting_for_ack) {
/* 35.15 NAV-VELNED (0x01 0x12) message (page 181 / 210 of reference manual */
gps_bin_nav_velned_packet_t *packet = (gps_bin_nav_velned_packet_t *) _rx_buffer;
_gps_position->vel_m_s = (float)packet->speed * 1e-2f;
_gps_position->vel_n_m_s = (float)packet->velN * 1e-2f;
_gps_position->vel_e_m_s = (float)packet->velE * 1e-2f;
_gps_position->vel_d_m_s = (float)packet->velD * 1e-2f;
_gps_position->vel_n_m_s = (float)packet->velN * 1e-2f; /* NED NORTH velocity */
_gps_position->vel_e_m_s = (float)packet->velE * 1e-2f; /* NED EAST velocity */
_gps_position->vel_d_m_s = (float)packet->velD * 1e-2f; /* NED DOWN velocity */
_gps_position->cog_rad = (float)packet->heading * M_DEG_TO_RAD_F * 1e-5f;
_gps_position->c_variance_rad = (float)packet->cAcc * M_DEG_TO_RAD_F * 1e-5f;
_gps_position->vel_ned_valid = true;
_gps_position->timestamp_velocity = hrt_absolute_time();
}