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Changed gps position topic mostly to SI units and float, removed counters and added specifig timestamps

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This commit is contained in:
Julian Oes
2013-02-06 12:41:05 -08:00
parent a79ad17f09
commit fc4be3e728
9 changed files with 139 additions and 139 deletions
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apps/mavlink/mavlink_receiver.c
+12 -12
View File
@@ -387,22 +387,22 @@ handle_message(mavlink_message_t *msg)
static uint64_t old_timestamp = 0;
/* gps */
hil_gps.timestamp = gps.time_usec;
hil_gps.counter = hil_counter++;
hil_gps.timestamp_position = gps.time_usec;
// hil_gps.counter = hil_counter++;
hil_gps.time_gps_usec = gps.time_usec;
hil_gps.lat = gps.lat;
hil_gps.lon = gps.lon;
hil_gps.alt = gps.alt;
hil_gps.counter_pos_valid = hil_counter++;
hil_gps.eph = gps.eph;
hil_gps.epv = gps.epv;
hil_gps.s_variance = 100;
hil_gps.p_variance = 100;
hil_gps.vel = gps.vel;
hil_gps.vel_n = gps.vel / 100.0f * cosf(gps.cog / M_RAD_TO_DEG_F / 100.0f);
hil_gps.vel_e = gps.vel / 100.0f * sinf(gps.cog / M_RAD_TO_DEG_F / 100.0f);
hil_gps.vel_d = 0.0f;
hil_gps.cog = gps.cog;
// hil_gps.counter_pos_valid = hil_counter++;
hil_gps.eph_m = (float)gps.eph * 1e-2f; // from cm to m
hil_gps.epv_m = (float)gps.epv * 1e-2f; // from cm to m
hil_gps.s_variance_m_s = 100; // XXX 100 m/s variance?
hil_gps.p_variance_m = 100; // XXX 100 m variance?
hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s
hil_gps.vel_n_m_s = (float)gps.vel * 1e-2f * cosf(gps.cog * M_DEG_TO_RAD_F * 1e-2f);
hil_gps.vel_e_m_s = (float)gps.vel * 1e-2f * sinf(gps.cog * M_DEG_TO_RAD_F * 1e-2f);
hil_gps.vel_d_m_s = 0.0f;
hil_gps.cog_rad = gps.cog * M_DEG_TO_RAD_F * 1e-2f; // from deg*100 to rad
hil_gps.fix_type = gps.fix_type;
hil_gps.satellites_visible = gps.satellites_visible;
apps/mavlink/orb_listener.c
+5 -5
View File
@@ -231,15 +231,15 @@ l_vehicle_gps_position(struct listener *l)
/* GPS position */
mavlink_msg_gps_raw_int_send(MAVLINK_COMM_0,
gps.timestamp,
gps.timestamp_position,
gps.fix_type,
gps.lat,
gps.lon,
gps.alt,
gps.eph,
gps.epv,
gps.vel,
gps.cog,
(uint16_t)(gps.eph_m * 1e2f), // from m to cm
(uint16_t)(gps.epv_m * 1e2f), // from m to cm
(uint16_t)(gps.vel_m_s * 1e2f), // from m/s to cm/s
(uint16_t)(gps.cog_rad * M_RAD_TO_DEG_F * 1e2f), // from rad to deg * 100
gps.satellites_visible);
if (gps.satellite_info_available && (gps_counter % 4 == 0)) {