gps_datalink.c File Reference

GPS system based on datalink. More...

#include "generated/flight_plan.h"
#include "modules/gps/gps.h"
#include "modules/core/abi.h"
#include "modules/imu/imu.h"
#include "modules/datalink/datalink.h"
#include "modules/datalink/downlink.h"

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Macros
#define	GPS_DATALINK_USE_MAG   1
	Set to 1 to receive also magnetometer ABI messages. More...

Functions
void	gps_datalink_init (void)
	GPS initialization. More...
static void	send_magnetometer (int32_t course, uint32_t now_ts)
static void	parse_gps_datalink_small (int16_t heading, uint32_t pos_xyz, uint32_t speed_xyz, uint32_t tow)
static void	parse_gps_datalink (uint8_t numsv, int32_t ecef_x, int32_t ecef_y, int32_t ecef_z, int32_t lat, int32_t lon, int32_t alt, int32_t hmsl, int32_t ecef_xd, int32_t ecef_yd, int32_t ecef_zd, uint32_t tow, int32_t course)
	Parse the REMOTE_GPS datalink packet. More...
static void	parse_gps_datalink_local (float enu_x, float enu_y, float enu_z, float enu_xd, float enu_yd, float enu_zd, uint32_t tow, float course)
	Parse the REMOTE_GPS_LOCAL datalink packet. More...
void	gps_datalink_parse_REMOTE_GPS (uint8_t *buf)
void	gps_datalink_parse_REMOTE_GPS_SMALL (uint8_t *buf)
void	gps_datalink_parse_REMOTE_GPS_LOCAL (uint8_t *buf)

Variables
struct LtpDef_i	ltp_def
struct GpsState	gps_datalink

Detailed Description

GPS system based on datalink.

This GPS parses the datalink REMOTE_GPS packet and sets the GPS structure to the values received.

Definition in file gps_datalink.c.

Macro Definition Documentation

GPS_DATALINK_USE_MAG

#define GPS_DATALINK_USE_MAG   1

Set to 1 to receive also magnetometer ABI messages.

Definition at line 41 of file gps_datalink.c.

Function Documentation

gps_datalink_init()

void gps_datalink_init

(

void

)

GPS initialization.

Definition at line 50 of file gps_datalink.c.

References LlaCoor_i::alt, GpsState::cacc, GpsState::comp_id, GpsState::fix, gps_datalink, GPS_DATALINK_ID, GPS_FIX_NONE, LlaCoor_i::lat, LlaCoor_i::lon, ltp_def, ltp_def_from_lla_i(), GpsState::pacc, GpsState::pdop, and GpsState::sacc.

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gps_datalink_parse_REMOTE_GPS()

void gps_datalink_parse_REMOTE_GPS

(

uint8_t *

buf

)

Definition at line 272 of file gps_datalink.c.

References parse_gps_datalink().

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gps_datalink_parse_REMOTE_GPS_LOCAL()

void gps_datalink_parse_REMOTE_GPS_LOCAL

(

uint8_t *

buf

)

Definition at line 301 of file gps_datalink.c.

References parse_gps_datalink_local().

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gps_datalink_parse_REMOTE_GPS_SMALL()

void gps_datalink_parse_REMOTE_GPS_SMALL

(

uint8_t *

buf

)

Definition at line 291 of file gps_datalink.c.

References parse_gps_datalink_small().

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parse_gps_datalink()

static void parse_gps_datalink ( uint8_t  numsv, int32_t  ecef_x, int32_t  ecef_y, int32_t  ecef_z, int32_t  lat, int32_t  lon, int32_t  alt, int32_t  hmsl, int32_t  ecef_xd, int32_t  ecef_yd, int32_t  ecef_zd, uint32_t  tow, int32_t  course  )

static

Parse the REMOTE_GPS datalink packet.

Definition at line 157 of file gps_datalink.c.

References LlaCoor_i::alt, course, GpsState::course, GpsState::ecef_pos, GpsState::ecef_vel, GpsState::fix, FLOAT_VECT2_NORM, FLOAT_VECT3_NORM, get_sys_time_usec(), gps_datalink, GPS_DATALINK_ID, GPS_FIX_3D, GPS_VALID_COURSE_BIT, GPS_VALID_HMSL_BIT, GPS_VALID_POS_ECEF_BIT, GPS_VALID_POS_LLA_BIT, GPS_VALID_VEL_ECEF_BIT, GPS_VALID_VEL_NED_BIT, GpsState::gspeed, GpsState::hmsl, GpsState::last_3dfix_ticks, GpsState::last_3dfix_time, GpsState::last_msg_ticks, GpsState::last_msg_time, LlaCoor_i::lat, GpsState::lla_pos, LlaCoor_i::lon, ltp_def, sys_time::nb_sec, sys_time::nb_sec_rem, ned_of_ecef_vect_i(), GpsState::ned_vel, GpsState::num_sv, send_magnetometer(), GpsState::speed_3d, GpsState::tow, GpsState::valid_fields, EcefCoor_i::x, EcefCoor_i::y, and EcefCoor_i::z.

Referenced by gps_datalink_parse_REMOTE_GPS().

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parse_gps_datalink_local()

static void parse_gps_datalink_local ( float  enu_x, float  enu_y, float  enu_z, float  enu_xd, float  enu_yd, float  enu_zd, uint32_t  tow, float  course  )

static

Parse the REMOTE_GPS_LOCAL datalink packet.

Definition at line 212 of file gps_datalink.c.

References CM_OF_M, course, GpsState::course, ecef_of_enu_point_i(), ecef_of_enu_vect_i(), GpsState::ecef_pos, GpsState::ecef_vel, GpsState::fix, FLOAT_VECT2_NORM, FLOAT_VECT3_NORM, get_sys_time_usec(), gps_datalink, GPS_DATALINK_ID, GPS_FIX_3D, GPS_VALID_COURSE_BIT, GPS_VALID_HMSL_BIT, GPS_VALID_POS_ECEF_BIT, GPS_VALID_POS_LLA_BIT, GPS_VALID_VEL_ECEF_BIT, GPS_VALID_VEL_NED_BIT, GpsState::gspeed, GpsState::hmsl, LtpDef_i::hmsl, GpsState::last_3dfix_ticks, GpsState::last_3dfix_time, GpsState::last_msg_ticks, GpsState::last_msg_time, lla_of_ecef_i(), GpsState::lla_pos, ltp_def, sys_time::nb_sec, sys_time::nb_sec_rem, GpsState::ned_vel, GpsState::num_sv, send_magnetometer(), GpsState::speed_3d, GpsState::tow, GpsState::valid_fields, VECT3_NED_OF_ENU, EnuCoor_i::x, EnuCoor_i::y, and EnuCoor_i::z.

Referenced by gps_datalink_parse_REMOTE_GPS_LOCAL().

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parse_gps_datalink_small()

static void parse_gps_datalink_small ( int16_t  heading, uint32_t  pos_xyz, uint32_t  speed_xyz, uint32_t  tow  )

static

Definition at line 90 of file gps_datalink.c.

References GpsState::course, ecef_of_enu_point_i(), ecef_of_enu_vect_i(), GpsState::ecef_pos, GpsState::ecef_vel, GpsState::fix, FLOAT_VECT2_NORM, FLOAT_VECT3_NORM, get_sys_time_usec(), gps_datalink, GPS_DATALINK_ID, GPS_FIX_3D, GPS_VALID_COURSE_BIT, GPS_VALID_HMSL_BIT, GPS_VALID_POS_ECEF_BIT, GPS_VALID_POS_LLA_BIT, GPS_VALID_VEL_ECEF_BIT, GPS_VALID_VEL_NED_BIT, GpsState::gspeed, heading, GpsState::hmsl, LtpDef_i::hmsl, GpsState::last_3dfix_ticks, GpsState::last_3dfix_time, GpsState::last_msg_ticks, GpsState::last_msg_time, lla_of_ecef_i(), GpsState::lla_pos, ltp_def, sys_time::nb_sec, sys_time::nb_sec_rem, GpsState::ned_vel, GpsState::num_sv, GpsState::speed_3d, GpsState::tow, GpsState::valid_fields, VECT3_NED_OF_ENU, EnuCoor_i::x, EnuCoor_i::y, and EnuCoor_i::z.

Referenced by gps_datalink_parse_REMOTE_GPS_SMALL().

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send_magnetometer()

static void send_magnetometer ( int32_t  course, uint32_t  now_ts  )

static

Definition at line 70 of file gps_datalink.c.

References course, heading, imu, imu_scale_mag(), MAG_DATALINK_SENDER_ID, Imu::mag_unscaled, MAGS_BFP_OF_REAL, VECT3_COPY, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by parse_gps_datalink(), and parse_gps_datalink_local().

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Variable Documentation

gps_datalink

struct GpsState gps_datalink

Definition at line 47 of file gps_datalink.c.

Referenced by gps_datalink_init(), parse_gps_datalink(), parse_gps_datalink_local(), and parse_gps_datalink_small().

ltp_def

struct LtpDef_i ltp_def

Definition at line 45 of file gps_datalink.c.

Referenced by gps_datalink_init(), ins_float_invariant_init(), ins_init_origin_i_from_flightplan(), ins_mekf_wind_wrapper_init(), ins_reset_altitude_ref(), ins_reset_local_origin(), parse_gps_datalink(), parse_gps_datalink_local(), and parse_gps_datalink_small().