mirror of https://github.com/ArduPilot/ardupilot
59 lines
1.0 KiB
C
59 lines
1.0 KiB
C
/**
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* @copyright Copyright (c) 2021 Sagetech, Inc. All rights reserved.
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*
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* @file toGS.c
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* @author Jacob.Garrison
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*
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* @date Mar 2, 2021
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*
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*/
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#include "sgUtil.h"
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/*
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* Documented in the header file.
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*/
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uint8_t toGS(const uint8_t bytes[])
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{
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uint8_t code = bytes[0];
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float gs = 0.0f;
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if (code <= 0x01)
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{
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gs = 0.0f;
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}
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else if (code <= 0x08)
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{
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gs = 1.0f;
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}
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else if (code <= 0x0C)
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{
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gs = 1.0f + (code - 0x09) * 0.25f;
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}
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else if (code <= 0x26)
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{
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gs = 2.0f + (code - 0x0D) * 0.5f;
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}
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else if (code <= 0x5D)
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{
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gs = 15.0f + (code - 0x27) * 1.0f;
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}
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else if (code <= 0x6C)
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{
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gs = 70.0f + (code - 0x5E) * 2.0f;
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}
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else if (code <= 0x7B)
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{
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gs = 100.0f + (code - 0x6D) * 5.0f;
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}
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else
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{
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gs = 176.0f;
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}
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// first converting to an 16 bit integer is necessary
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// to keep the floating point conversion from
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// truncating to 0.
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return (uint8_t)((int16_t)gs & 0xFF);
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}
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