Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
gps_datalink.h File Reference

GPS system based on datalink. More...

#include "std.h"
#include "generated/airframe.h"
#include "modules/gps/gps.h"
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Macros

#define PRIMARY_GPS   GPS_DATALINK
 
#define gps_datalink_periodic_check()   gps_periodic_check(&gps_datalink)
 

Functions

void gps_datalink_init (void)
 GPS initialization. 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
 

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.h.

Macro Definition Documentation

◆ gps_datalink_periodic_check

#define gps_datalink_periodic_check ( )    gps_periodic_check(&gps_datalink)

Definition at line 45 of file gps_datalink.h.

◆ PRIMARY_GPS

#define PRIMARY_GPS   GPS_DATALINK

Definition at line 38 of file gps_datalink.h.

Function Documentation

◆ gps_datalink_init()

void gps_datalink_init ( void  )

◆ 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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Variable Documentation

◆ gps_datalink

struct GpsState gps_datalink

Definition at line 47 of file gps_datalink.c.

Referenced by gps_datalink_init(), and gps_datalink_publish().