diff options
-rw-r--r-- | src/drivers/hott/messages.h | 166 | ||||
-rw-r--r-- | src/modules/commander/commander.c | 2 | ||||
-rw-r--r-- | src/modules/systemlib/airspeed.c | 4 |
3 files changed, 86 insertions, 86 deletions
diff --git a/src/drivers/hott/messages.h b/src/drivers/hott/messages.h index 451bee91c..224f8fc56 100644 --- a/src/drivers/hott/messages.h +++ b/src/drivers/hott/messages.h @@ -72,8 +72,8 @@ struct gam_module_poll_msg { /* The Electric Air Module message. */ struct eam_module_msg { - uint8_t start; /**< Start byte */ - uint8_t eam_sensor_id; /**< EAM sensor */ + uint8_t start; /**< Start byte */ + uint8_t eam_sensor_id; /**< EAM sensor */ uint8_t warning; uint8_t sensor_text_id; uint8_t alarm_inverse1; @@ -125,52 +125,52 @@ struct eam_module_msg { #define GAM_SENSOR_TEXT_ID 0xd0 struct gam_module_msg { - uint8_t start; // start byte constant value 0x7c - uint8_t gam_sensor_id; // EAM sensort id. constat value 0x8d - uint8_t warning_beeps; // 1=A 2=B ... 0x1a=Z 0 = no alarm - uint8_t sensor_text_id; // constant value 0xd0 - uint8_t alarm_invers1; // alarm bitmask. Value is displayed inverted - uint8_t alarm_invers2; // alarm bitmask. Value is displayed inverted - uint8_t cell1; // cell 1 voltage lower value. 0.02V steps, 124=2.48V + uint8_t start; /**< Start byte */ + uint8_t gam_sensor_id; /**< GAM sensor id */ + uint8_t warning_beeps; + uint8_t sensor_text_id; + uint8_t alarm_invers1; + uint8_t alarm_invers2; + uint8_t cell1; /**< Lipo cell voltages. Not supported. */ uint8_t cell2; uint8_t cell3; uint8_t cell4; uint8_t cell5; uint8_t cell6; - uint8_t batt1_L; // battery 1 voltage LSB value. 0.1V steps. 50 = 5.5V + uint8_t batt1_L; /**< Battery 1 voltage LSB value. 0.1V steps. 50 = 5.5V */ uint8_t batt1_H; - uint8_t batt2_L; // battery 2 voltage LSB value. 0.1V steps. 50 = 5.5V + uint8_t batt2_L; /**< Battery 2 voltage LSB value. 0.1V steps. 50 = 5.5V */ uint8_t batt2_H; - uint8_t temperature1; // temperature 1. offset of 20. a value of 20 = 0°C - uint8_t temperature2; // temperature 2. offset of 20. a value of 20 = 0°C - uint8_t fuel_procent; // Fuel capacity in %. Values 0--100 - // graphical display ranges: 0-25% 50% 75% 100% - uint8_t fuel_ml_L; // Fuel in ml scale. Full = 65535! - uint8_t fuel_ml_H; // - uint8_t rpm_L; // RPM in 10 RPM steps. 300 = 3000rpm - uint8_t rpm_H; // - uint8_t altitude_L; // altitude in meters. offset of 500, 500 = 0m - uint8_t altitude_H; // - uint8_t climbrate_L; // climb rate in 0.01m/s. Value of 30000 = 0.00 m/s - uint8_t climbrate_H; // - uint8_t climbrate3s; // climb rate in m/3sec. Value of 120 = 0m/3sec - uint8_t current_L; // current in 0.1A steps - uint8_t current_H; // - uint8_t main_voltage_L; // Main power voltage using 0.1V steps - uint8_t main_voltage_H; // - uint8_t batt_cap_L; // used battery capacity in 10mAh steps - uint8_t batt_cap_H; // - uint8_t speed_L; // (air?) speed in km/h(?) we are using ground speed here per default - uint8_t speed_H; // - uint8_t min_cell_volt; // minimum cell voltage in 2mV steps. 124 = 2,48V - uint8_t min_cell_volt_num; // number of the cell with the lowest voltage - uint8_t rpm2_L; // RPM in 10 RPM steps. 300 = 3000rpm - uint8_t rpm2_H; // - uint8_t general_error_number; // Voice error == 12. TODO: more docu - uint8_t pressure; // Pressure up to 16bar. 0,1bar scale. 20 = 2bar - uint8_t version; // version number TODO: more info? - uint8_t stop; // stop byte - uint8_t checksum; // checksum + uint8_t temperature1; /**< Temperature 1. offset of 20. a value of 20 = 0°C */ + uint8_t temperature2; /**< Temperature 2. offset of 20. a value of 20 = 0°C */ + uint8_t fuel_procent; /**< Fuel capacity in %. Values 0 - 100 */ + /**< Graphical display ranges: 0 25% 50% 75% 100% */ + uint8_t fuel_ml_L; /**< Fuel in ml scale. Full = 65535 */ + uint8_t fuel_ml_H; + uint8_t rpm_L; /**< RPM in 10 RPM steps. 300 = 3000rpm */ + uint8_t rpm_H; + uint8_t altitude_L; /**< Altitude in meters. offset of 500, 500 = 0m */ + uint8_t altitude_H; + uint8_t climbrate_L; /**< Climb rate in 0.01m/s. Value of 30000 = 0.00 m/s */ + uint8_t climbrate_H; + uint8_t climbrate3s; /**< Climb rate in m/3sec. Value of 120 = 0m/3sec */ + uint8_t current_L; /**< Current in 0.1A steps */ + uint8_t current_H; + uint8_t main_voltage_L; /**< Main power voltage using 0.1V steps */ + uint8_t main_voltage_H; + uint8_t batt_cap_L; /**< Used battery capacity in 10mAh steps */ + uint8_t batt_cap_H; + uint8_t speed_L; /**< Speed in km/h */ + uint8_t speed_H; + uint8_t min_cell_volt; /**< Minimum cell voltage in 2mV steps. 124 = 2,48V */ + uint8_t min_cell_volt_num; /**< Number of the cell with the lowest voltage */ + uint8_t rpm2_L; /**< RPM in 10 RPM steps. 300 = 3000rpm */ + uint8_t rpm2_H; + uint8_t general_error_number; /**< Voice error == 12. TODO: more docu */ + uint8_t pressure; /**< Pressure up to 16bar. 0,1bar scale. 20 = 2bar */ + uint8_t version; + uint8_t stop; /**< Stop byte */ + uint8_t checksum; /**< Lower 8-bits of all bytes summed */ }; /* GPS sensor constants. */ @@ -184,52 +184,52 @@ struct gam_module_msg { struct gps_module_msg { uint8_t start; /**< Start byte */ uint8_t sensor_id; /**< GPS sensor ID*/ - uint8_t warning; /**< Byte 3: 0…= warning beeps */ + uint8_t warning; /**< 0…= warning beeps */ uint8_t sensor_text_id; /**< GPS Sensor text mode ID */ - uint8_t alarm_inverse1; /**< Byte 5: 01 inverse status */ - uint8_t alarm_inverse2; /**< Byte 6: 00 inverse status status 1 = no GPS Signal */ - uint8_t flight_direction; /**< Byte 7: 119 = Flightdir./dir. 1 = 2°; 0° (North), 9 0° (East), 180° (South), 270° (West) */ - uint8_t gps_speed_L; /**< Byte 8: 8 = /GPS speed low byte 8km/h */ - uint8_t gps_speed_H; /**< Byte 9: 0 = /GPS speed high byte */ + uint8_t alarm_inverse1; /**< 01 inverse status */ + uint8_t alarm_inverse2; /**< 00 inverse status status 1 = no GPS Signal */ + uint8_t flight_direction; /**< 119 = Flightdir./dir. 1 = 2°; 0° (North), 9 0° (East), 180° (South), 270° (West) */ + uint8_t gps_speed_L; /**< 8 = /GPS speed low byte 8km/h */ + uint8_t gps_speed_H; /**< 0 = /GPS speed high byte */ - uint8_t latitude_ns; /**< Byte 10: 000 = N = 48°39’988 */ - uint8_t latitude_min_L; /**< Byte 11: 231 0xE7 = 0x12E7 = 4839 */ - uint8_t latitude_min_H; /**< Byte 12: 018 18 = 0x12 */ - uint8_t latitude_sec_L; /**< Byte 13: 171 220 = 0xDC = 0x03DC =0988 */ - uint8_t latitude_sec_H; /**< Byte 14: 016 3 = 0x03 */ + uint8_t latitude_ns; /**< 000 = N = 48°39’988 */ + uint8_t latitude_min_L; /**< 231 0xE7 = 0x12E7 = 4839 */ + uint8_t latitude_min_H; /**< 018 18 = 0x12 */ + uint8_t latitude_sec_L; /**< 171 220 = 0xDC = 0x03DC =0988 */ + uint8_t latitude_sec_H; /**< 016 3 = 0x03 */ - uint8_t longitude_ew; /**< Byte 15: 000 = E= 9° 25’9360 */ - uint8_t longitude_min_L; /**< Byte 16: 150 157 = 0x9D = 0x039D = 0925 */ - uint8_t longitude_min_H; /**< Byte 17: 003 3 = 0x03 */ - uint8_t longitude_sec_L; /**< Byte 18: 056 144 = 0x90 0x2490 = 9360*/ - uint8_t longitude_sec_H; /**< Byte 19: 004 36 = 0x24 */ + uint8_t longitude_ew; /**< 000 = E= 9° 25’9360 */ + uint8_t longitude_min_L; /**< 150 157 = 0x9D = 0x039D = 0925 */ + uint8_t longitude_min_H; /**< 003 3 = 0x03 */ + uint8_t longitude_sec_L; /**< 056 144 = 0x90 0x2490 = 9360 */ + uint8_t longitude_sec_H; /**< 004 36 = 0x24 */ - uint8_t distance_L; /**< Byte 20: 027 123 = /distance low byte 6 = 6 m */ - uint8_t distance_H; /**< Byte 21: 036 35 = /distance high byte */ - uint8_t altitude_L; /**< Byte 22: 243 244 = /Altitude low byte 500 = 0m */ - uint8_t altitude_H; /**< Byte 23: 001 1 = /Altitude high byte */ - uint8_t resolution_L; /**< Byte 24: 48 = Low Byte m/s resolution 0.01m 48 = 30000 = 0.00m/s (1=0.01m/s) */ - uint8_t resolution_H; /**< Byte 25: 117 = High Byte m/s resolution 0.01m */ - uint8_t unknown1; /**< Byte 26: 120 = 0m/3s */ - uint8_t gps_num_sat; /**< Byte 27: GPS.Satellites (number of satelites) (1 byte) */ - uint8_t gps_fix_char; /**< Byte 28: GPS.FixChar. (GPS fix character. display, if DGPS, 2D oder 3D) (1 byte) */ - uint8_t home_direction; /**< Byte 29: HomeDirection (direction from starting point to Model position) (1 byte) */ - uint8_t angle_x_direction; /**< Byte 30: angle x-direction (1 byte) */ - uint8_t angle_y_direction; /**< Byte 31: angle y-direction (1 byte) */ - uint8_t angle_z_direction; /**< Byte 32: angle z-direction (1 byte) */ - uint8_t gyro_x_L; /**< Byte 33: gyro x low byte (2 bytes) */ - uint8_t gyro_x_H; /**< Byte 34: gyro x high byte */ - uint8_t gyro_y_L; /**< Byte 35: gyro y low byte (2 bytes) */ - uint8_t gyro_y_H; /**< Byte 36: gyro y high byte */ - uint8_t gyro_z_L; /**< Byte 37: gyro z low byte (2 bytes) */ - uint8_t gyro_z_H; /**< Byte 38: gyro z high byte */ - uint8_t vibration; /**< Byte 39: vibration (1 bytes) */ - uint8_t ascii4; /**< Byte 40: 00 ASCII Free Character [4] */ - uint8_t ascii5; /**< Byte 41: 00 ASCII Free Character [5] */ - uint8_t gps_fix; /**< Byte 42: 00 ASCII Free Character [6], we use it for GPS FIX */ - uint8_t version; /**< Byte 43: 00 version number */ - uint8_t stop; /**< Byte 44: 0x7D Ende byte */ - uint8_t checksum; /**< Byte 45: Parity Byte */ + uint8_t distance_L; /**< 027 123 = /distance low byte 6 = 6 m */ + uint8_t distance_H; /**< 036 35 = /distance high byte */ + uint8_t altitude_L; /**< 243 244 = /Altitude low byte 500 = 0m */ + uint8_t altitude_H; /**< 001 1 = /Altitude high byte */ + uint8_t resolution_L; /**< 48 = Low Byte m/s resolution 0.01m 48 = 30000 = 0.00m/s (1=0.01m/s) */ + uint8_t resolution_H; /**< 117 = High Byte m/s resolution 0.01m */ + uint8_t unknown1; /**< 120 = 0m/3s */ + uint8_t gps_num_sat; /**< GPS.Satellites (number of satelites) (1 byte) */ + uint8_t gps_fix_char; /**< GPS.FixChar. (GPS fix character. display, if DGPS, 2D oder 3D) (1 byte) */ + uint8_t home_direction; /**< HomeDirection (direction from starting point to Model position) (1 byte) */ + uint8_t angle_x_direction; /**< angle x-direction (1 byte) */ + uint8_t angle_y_direction; /**< angle y-direction (1 byte) */ + uint8_t angle_z_direction; /**< angle z-direction (1 byte) */ + uint8_t gyro_x_L; /**< gyro x low byte (2 bytes) */ + uint8_t gyro_x_H; /**< gyro x high byte */ + uint8_t gyro_y_L; /**< gyro y low byte (2 bytes) */ + uint8_t gyro_y_H; /**< gyro y high byte */ + uint8_t gyro_z_L; /**< gyro z low byte (2 bytes) */ + uint8_t gyro_z_H; /**< gyro z high byte */ + uint8_t vibration; /**< vibration (1 bytes) */ + uint8_t ascii4; /**< 00 ASCII Free Character [4] */ + uint8_t ascii5; /**< 00 ASCII Free Character [5] */ + uint8_t gps_fix; /**< 00 ASCII Free Character [6], we use it for GPS FIX */ + uint8_t version; + uint8_t stop; /**< Stop byte */ + uint8_t checksum; /**< Lower 8-bits of all bytes summed */ }; // The maximum size of a message. diff --git a/src/modules/commander/commander.c b/src/modules/commander/commander.c index 928d9b85e..8e5e36712 100644 --- a/src/modules/commander/commander.c +++ b/src/modules/commander/commander.c @@ -282,7 +282,7 @@ void tune_error(void) void do_rc_calibration(int status_pub, struct vehicle_status_s *status) { - if (current_status.offboard_control_signal_lost) { + if (current_status.rc_signal_lost) { mavlink_log_critical(mavlink_fd, "TRIM CAL: ABORT. No RC signal."); return; } diff --git a/src/modules/systemlib/airspeed.c b/src/modules/systemlib/airspeed.c index 15bb833a9..e01cc4dda 100644 --- a/src/modules/systemlib/airspeed.c +++ b/src/modules/systemlib/airspeed.c @@ -62,7 +62,7 @@ float calc_indicated_airspeed(float differential_pressure) if (differential_pressure > 0) { return sqrtf((2.0f*differential_pressure) / CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C); } else { - return -sqrtf((2.0f*fabs(differential_pressure)) / CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C); + return -sqrtf((2.0f*fabsf(differential_pressure)) / CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C); } } @@ -106,6 +106,6 @@ float calc_true_airspeed(float total_pressure, float static_pressure, float temp return sqrtf((2.0f*(pressure_difference)) / density); } else { - return -sqrtf((2.0f*fabs(pressure_difference)) / density); + return -sqrtf((2.0f*fabsf(pressure_difference)) / density); } } |