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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-12 17:22:24 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-12 17:22:24 +0200 |
| commit | c815aff842c127488c3885d6cb88ebfaf3dcd3bf (patch) | |
| tree | 1fa0891c516b6386a6e87bba91eee4228ce2e274 /apps/gps/mtk.c | |
| parent | 31ecc4d5df16e41e397d689e794c72c36f8c3233 (diff) | |
| download | px4-firmware-c815aff842c127488c3885d6cb88ebfaf3dcd3bf.tar.gz px4-firmware-c815aff842c127488c3885d6cb88ebfaf3dcd3bf.tar.bz2 px4-firmware-c815aff842c127488c3885d6cb88ebfaf3dcd3bf.zip | |
Deamonized GPS app, fixed GPS issues, reworking RC input
Diffstat (limited to 'apps/gps/mtk.c')
| -rw-r--r-- | apps/gps/mtk.c | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/apps/gps/mtk.c b/apps/gps/mtk.c index 0333c7100..290fa6129 100644 --- a/apps/gps/mtk.c +++ b/apps/gps/mtk.c @@ -121,7 +121,7 @@ int mtk_parse(uint8_t b, char *gps_rx_buffer) if (mtk_state->ck_a == packet->ck_a && mtk_state->ck_b == packet->ck_b) { mtk_gps->lat = packet->latitude * 10; // mtk: degrees*1e6, mavlink/ubx: degrees*1e7 mtk_gps->lon = packet->longitude * 10; // mtk: degrees*1e6, mavlink/ubx: degrees*1e7 - mtk_gps->alt = (int32_t)packet->msl_altitude * 10; // conversion from centimeters to millimeters, and from uint32_t to int16_t + mtk_gps->alt = (int32_t)(packet->msl_altitude * 10); // conversion from centimeters to millimeters, and from uint32_t to int16_t mtk_gps->fix_type = packet->fix_type; mtk_gps->eph = packet->hdop; mtk_gps->epv = 65535; //unknown in mtk custom mode @@ -311,14 +311,14 @@ void *mtk_loop(void *arg) /* advertise GPS topic */ struct vehicle_gps_position_s mtk_gps_d; mtk_gps = &mtk_gps_d; - orb_advert_t gps_handle = orb_advertise(ORB_ID(vehicle_gps_position), &mtk_gps); + orb_advert_t gps_handle = orb_advertise(ORB_ID(vehicle_gps_position), mtk_gps); while (1) { /* Parse a message from the gps receiver */ if (OK == read_gps_mtk(fd, gps_rx_buffer, MTK_BUFFER_SIZE)) { /* publish new GPS position */ - orb_publish(ORB_ID(vehicle_gps_position), gps_handle, &mtk_gps); + orb_publish(ORB_ID(vehicle_gps_position), gps_handle, mtk_gps); } else { break; |