31 #include "generated/airframe.h"
117 #ifdef GPS_IMU_LEVER_ARM_X
118 #pragma message "Sending XSens GPS Arm."
119 XSENS_SetLeverArmGps(GPS_IMU_LEVER_ARM_X, GPS_IMU_LEVER_ARM_Y, GPS_IMU_LEVER_ARM_Z);
124 XSENS_SetBaudrate(baud);
129 XSENS_GoToMeasurment();
160 }
else if (code2 == 0x20) {
166 }
else if (code1 == 0x20) {
175 }
else if (code1 == 0x40) {
182 }
else if (code1 == 0x80) {
189 }
else if (code1 == 0x30) {
193 }
else if (code1 == 0xE0) {
208 }
else if (code1 == 0x88) {
215 }
else if (code2 == 0xA0) {
229 if (ch >
xsens700.gps.nb_channels) {
continue; }
237 }
else if (code1 == 0x50) {
240 }
else if (code2 == 0x20) {
250 }
else if (code2 == 0x40) {
262 }
else if (code1 == 0xD0) {
275 if (subpacklen < 0) {
static const float offset[]
if(GpsFixValid() &&e_identification_started)
#define GPS_VALID_VEL_NED_BIT
#define GPS_FIX_NONE
No GPS fix.
#define GPS_VALID_HMSL_BIT
#define GPS_FIX_2D
2D GPS fix
#define GPS_FIX_3D
3D GPS fix
static float wgs84_ellipsoid_to_geoid_f(float lat, float lon)
Get WGS84 ellipsoid/geoid separation.
arch independent LED (Light Emitting Diodes) API
#define UNINIT
Receiving pprz messages.
volatile uint32_t nb_sec
full seconds since startup
volatile uint32_t nb_sec_rem
remainder of seconds since startup in CPU_TICKS
arch independent UART (Universal Asynchronous Receiver/Transmitter) API
unsigned short uint16_t
Typedef defining 16 bit unsigned short type.
unsigned int uint32_t
Typedef defining 32 bit unsigned int type.
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.
volatile int xsens_configured
uint16_t xsens_time_stamp
uint32_t xsens_msg_statusword
uint32_t xsens_output_settings
uint16_t xsens_output_mode
void parse_xsens700_msg(void)
static void xsens_ask_message_rate(uint8_t c1, uint8_t c2, uint8_t freq)
void xsens700_periodic(void)
Parser for the Xsens protocol.
struct XsensParser parser
struct FloatVect3 vel
NED velocity in m/s.
volatile bool new_attitude
#define XsensHeader(msg_id, len)
uint8_t msg_buf[XSENS_MAX_PAYLOAD]
#define XsensSend1ByAddr(x)