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Rover: changes for GPS field changes

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This commit is contained in:
Andrew Tridgell 2013-07-10 14:02:40 +10:00
parent 469736e6bc
commit b5db3288ae
4 changed files with 11 additions and 11 deletions
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4
APMrover2/APMrover2.pde
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@ -790,7 +790,7 @@ static void update_GPS(void)
if(ground_start_count > 1){ if(ground_start_count > 1){
ground_start_count--; ground_start_count--;
ground_start_avg += g_gps->ground_speed; ground_start_avg += g_gps->ground_speed_cm;
} else if (ground_start_count == 1) { } else if (ground_start_count == 1) {
// We countdown N number of good GPS fixes // We countdown N number of good GPS fixes
@ -808,7 +808,7 @@ static void update_GPS(void)
ground_start_count = 0; ground_start_count = 0;
} }
} }
ground_speed = g_gps->ground_speed * 0.01; ground_speed = g_gps->ground_speed_cm * 0.01;
} }
} }

12
APMrover2/GCS_Mavlink.pde
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@ -227,7 +227,7 @@ static void NOINLINE send_location(mavlink_channel_t chan)
fix_time, fix_time,
current_loc.lat, // in 1E7 degrees current_loc.lat, // in 1E7 degrees
current_loc.lng, // in 1E7 degrees current_loc.lng, // in 1E7 degrees
g_gps->altitude * 10, // millimeters above sea level g_gps->altitude_cm * 10, // millimeters above sea level
(current_loc.alt - home.alt) * 10, // millimeters above ground (current_loc.alt - home.alt) * 10, // millimeters above ground
g_gps->velocity_north() * 100, // X speed cm/s (+ve North) g_gps->velocity_north() * 100, // X speed cm/s (+ve North)
g_gps->velocity_east() * 100, // Y speed cm/s (+ve East) g_gps->velocity_east() * 100, // Y speed cm/s (+ve East)
@ -258,11 +258,11 @@ static void NOINLINE send_gps_raw(mavlink_channel_t chan)
g_gps->status(), g_gps->status(),
g_gps->latitude, // in 1E7 degrees g_gps->latitude, // in 1E7 degrees
g_gps->longitude, // in 1E7 degrees g_gps->longitude, // in 1E7 degrees
g_gps->altitude * 10, // in mm g_gps->altitude_cm * 10, // in mm
g_gps->hdop, g_gps->hdop,
65535, 65535,
g_gps->ground_speed, // cm/s g_gps->ground_speed_cm, // cm/s
g_gps->ground_course, // 1/100 degrees, g_gps->ground_course_cd, // 1/100 degrees,
g_gps->num_sats); g_gps->num_sats);
} }
@ -338,8 +338,8 @@ static void NOINLINE send_vfr_hud(mavlink_channel_t chan)
{ {
mavlink_msg_vfr_hud_send( mavlink_msg_vfr_hud_send(
chan, chan,
(float)g_gps->ground_speed / 100.0, (float)g_gps->ground_speed_cm / 100.0,
(float)g_gps->ground_speed / 100.0, (float)g_gps->ground_speed_cm / 100.0,
(ahrs.yaw_sensor / 100) % 360, (ahrs.yaw_sensor / 100) % 360,
(uint16_t)(100 * channel_throttle->norm_output()), (uint16_t)(100 * channel_throttle->norm_output()),
current_loc.alt / 100.0, current_loc.alt / 100.0,

4
APMrover2/commands.pde
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@ -166,8 +166,8 @@ void init_home()
home.lng = g_gps->longitude; // Lon * 10**7 home.lng = g_gps->longitude; // Lon * 10**7
home.lat = g_gps->latitude; // Lat * 10**7 home.lat = g_gps->latitude; // Lat * 10**7
gps_base_alt = max(g_gps->altitude, 0); gps_base_alt = max(g_gps->altitude_cm, 0);
home.alt = g_gps->altitude; home.alt = g_gps->altitude_cm;
home_is_set = true; home_is_set = true;
// Save Home to EEPROM - Command 0 // Save Home to EEPROM - Command 0

2
APMrover2/test.pde
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@ -357,7 +357,7 @@ test_gps(uint8_t argc, const Menu::arg *argv)
cliSerial->printf_P(PSTR("Lat: %ld, Lon %ld, Alt: %ldm, #sats: %d\n"), cliSerial->printf_P(PSTR("Lat: %ld, Lon %ld, Alt: %ldm, #sats: %d\n"),
g_gps->latitude, g_gps->latitude,
g_gps->longitude, g_gps->longitude,
g_gps->altitude/100, g_gps->altitude_cm/100,
g_gps->num_sats); g_gps->num_sats);
}else{ }else{
cliSerial->printf_P(PSTR(".")); cliSerial->printf_P(PSTR("."));