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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-31 12:59:14 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-31 12:59:14 +0100 |
| commit | 472010b10b50436d8c40d94a7d9a888c1fe06858 (patch) | |
| tree | 6d05361b997d48e502afad28e6fbda00b9524b99 /apps | |
| parent | 7034acd07ead3e80bb0f767ae73ffa6fafcd375e (diff) | |
| download | px4-firmware-472010b10b50436d8c40d94a7d9a888c1fe06858.tar.gz px4-firmware-472010b10b50436d8c40d94a7d9a888c1fe06858.tar.bz2 px4-firmware-472010b10b50436d8c40d94a7d9a888c1fe06858.zip | |
Extended GPS struct with velocity vector
Diffstat (limited to 'apps')
| -rw-r--r-- | apps/gps/ubx.c | 4 | ||||
| -rw-r--r-- | apps/uORB/topics/vehicle_gps_position.h | 6 |
2 files changed, 10 insertions, 0 deletions
diff --git a/apps/gps/ubx.c b/apps/gps/ubx.c index f676ffdfb..03ae622a1 100644 --- a/apps/gps/ubx.c +++ b/apps/gps/ubx.c @@ -479,6 +479,10 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer) if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) { ubx_gps->vel = (uint16_t)packet->speed; + ubx_gps->vel_n = packet->velN / 100.0f; + ubx_gps->vel_e = packet->velE / 100.0f; + ubx_gps->vel_d = packet->velD / 100.0f; + ubx_gps->vel_ned_valid = true; ubx_gps->cog = (uint16_t)((float)(packet->heading) * 1e-3f); ubx_gps->timestamp = hrt_absolute_time(); diff --git a/apps/uORB/topics/vehicle_gps_position.h b/apps/uORB/topics/vehicle_gps_position.h index 60d01a831..8e55ef148 100644 --- a/apps/uORB/topics/vehicle_gps_position.h +++ b/apps/uORB/topics/vehicle_gps_position.h @@ -66,6 +66,9 @@ struct vehicle_gps_position_s uint16_t eph; /**< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 //LOGME */ uint16_t epv; /**< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 */ uint16_t vel; /**< GPS ground speed (m/s * 100). If unknown, set to: 65535 */ + float vel_n; /**< GPS ground speed in m/s */ + float vel_e; /**< GPS ground speed in m/s */ + float vel_d; /**< GPS ground speed in m/s */ uint16_t cog; /**< Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 */ uint8_t fix_type; /**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. */ uint8_t satellites_visible; /**< Number of satellites visible. If unknown, set to 255 */ @@ -77,6 +80,9 @@ struct vehicle_gps_position_s uint8_t satellite_snr[20]; /**< Signal to noise ratio of satellite */ uint8_t satellite_info_available; /**< 0 for no info, 1 for info available */ + /* flags */ + float vel_ned_valid; /**< Flag to indicate if NED speed is valid */ + }; /** |