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	EXTERNAL_POSE_SMALL_POS_RES   1.0
#define	EXTERNAL_POSE_SMALL_SPEED_RES   1.0

Functions
void	gps_datalink_init (void)
	GPS initialization. More...
static void	gps_datalink_publish (uint32_t tow, struct EnuCoor_f *enu_pos, struct EnuCoor_f *enu_speed, float course)
	Publish the GPS data. More...
void	gps_datalink_parse_EXTERNAL_POSE (uint8_t *buf)
	Parse the full EXTERNAL_POSE message and publish as GPS through ABI. More...
void	gps_datalink_parse_EXTERNAL_POSE_SMALL (uint8_t *buf)
	Parse the EXTERNAL_POSE_SMALL message and publish as GPS through ABI. More...
void	gps_datalink_parse_REMOTE_GPS_LOCAL (uint8_t *buf)

Variables
struct GpsState	gps_datalink
static struct LtpDef_i	ltp_def

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

EXTERNAL_POSE_SMALL_POS_RES

#define EXTERNAL_POSE_SMALL_POS_RES   1.0

Definition at line 40 of file gps_datalink.c.

EXTERNAL_POSE_SMALL_SPEED_RES

#define EXTERNAL_POSE_SMALL_SPEED_RES   1.0

Definition at line 44 of file gps_datalink.c.

Function Documentation

gps_datalink_init()

void gps_datalink_init

(

void

)

GPS initialization.

Definition at line 51 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_EXTERNAL_POSE()

void gps_datalink_parse_EXTERNAL_POSE

(

uint8_t *

buf

)

Parse the full EXTERNAL_POSE message and publish as GPS through ABI.

Definition at line 123 of file gps_datalink.c.

References float_eulers_of_quat(), gps_datalink_publish(), heading, FloatEulers::psi, FloatQuat::qi, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, EnuCoor_f::x, EnuCoor_f::y, and EnuCoor_f::z.

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gps_datalink_parse_EXTERNAL_POSE_SMALL()

void gps_datalink_parse_EXTERNAL_POSE_SMALL

(

uint8_t *

buf

)

Parse the EXTERNAL_POSE_SMALL message and publish as GPS through ABI.

Definition at line 151 of file gps_datalink.c.

References EXTERNAL_POSE_SMALL_POS_RES, EXTERNAL_POSE_SMALL_SPEED_RES, gps_datalink_publish(), heading, EnuCoor_f::x, EnuCoor_i::x, EnuCoor_f::y, EnuCoor_i::y, EnuCoor_f::z, and EnuCoor_i::z.

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gps_datalink_parse_REMOTE_GPS_LOCAL()

void gps_datalink_parse_REMOTE_GPS_LOCAL

(

uint8_t *

buf

)

Definition at line 203 of file gps_datalink.c.

References course, gps_datalink_publish(), EnuCoor_f::x, EnuCoor_f::y, and EnuCoor_f::z.

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gps_datalink_publish()

static void gps_datalink_publish ( uint32_t  tow, struct EnuCoor_f *  enu_pos, struct EnuCoor_f *  enu_speed, float  course  )

static

Publish the GPS data.

Definition at line 71 of file gps_datalink.c.

References CM_OF_M, GpsState::course, 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, LtpDef_i::hmsl, GpsState::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_f::x, EnuCoor_i::x, EnuCoor_f::y, EnuCoor_i::y, EnuCoor_f::z, and EnuCoor_i::z.

Referenced by gps_datalink_parse_EXTERNAL_POSE(), gps_datalink_parse_EXTERNAL_POSE_SMALL(), and gps_datalink_parse_REMOTE_GPS_LOCAL().

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Variable Documentation

gps_datalink

struct GpsState gps_datalink

Definition at line 1 of file gps_datalink.c.

Referenced by gps_datalink_init(), and gps_datalink_publish().

ltp_def

struct LtpDef_i ltp_def

static

Definition at line 1 of file gps_datalink.c.

Referenced by gps_datalink_init(), gps_datalink_publish(), ins_float_invariant_init(), ins_float_invariant_reset_ref(), ins_float_invariant_reset_vertical_ref(), ins_flow_init(), ins_init_origin_i_from_flightplan(), ins_mekf_wind_wrapper_init(), reset_ref(), reset_vertical_ref(), and stateSetLocalOrigin_i().