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AP_Periph: send GNSS Heading message

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if not sending RelPosHeading then send Heading message if we have yaw
This commit is contained in:
Andrew Tridgell 2022-12-15 19:05:58 +11:00
parent b0c006deca
commit 69cb6796f3
2 changed files with 24 additions and 3 deletions
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2
Tools/AP_Periph/AP_Periph.h
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@ -282,6 +282,8 @@ public:
uint32_t last_mag_update_ms;
uint32_t last_gps_update_ms;
uint32_t last_gps_yaw_ms;
uint32_t last_relposheading_ms;
uint32_t last_baro_update_ms;
uint32_t last_airspeed_update_ms;
bool saw_gps_lock_once;

25
Tools/AP_Periph/can.cpp
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@ -2050,6 +2050,26 @@ void AP_Periph_FW::can_gps_update(void)
total_size);
}
// send Heading message if we are not sending RelPosHeading messages and have yaw
if (gps.have_gps_yaw() && last_relposheading_ms == 0) {
float yaw_deg, yaw_acc_deg;
uint32_t yaw_time_ms;
if (gps.gps_yaw_deg(yaw_deg, yaw_acc_deg, yaw_time_ms) && yaw_time_ms != last_gps_yaw_ms) {
ardupilot_gnss_Heading heading {};
heading.heading_valid = true;
heading.heading_accuracy_valid = is_positive(yaw_acc_deg);
heading.heading_rad = radians(yaw_deg);
heading.heading_accuracy_rad = radians(yaw_acc_deg);
uint8_t buffer[ARDUPILOT_GNSS_HEADING_MAX_SIZE] {};
const uint16_t total_size = ardupilot_gnss_Heading_encode(&heading, buffer, !periph.canfdout());
canard_broadcast(ARDUPILOT_GNSS_HEADING_SIGNATURE,
ARDUPILOT_GNSS_HEADING_ID,
CANARD_TRANSFER_PRIORITY_LOW,
&buffer[0],
total_size);
}
}
#endif // HAL_PERIPH_ENABLE_GPS
}
@ -2110,13 +2130,12 @@ void AP_Periph_FW::send_relposheading_msg() {
float relative_distance;
float relative_down_pos;
float reported_heading_acc;
static uint32_t last_timestamp = 0;
uint32_t curr_timestamp = 0;
gps.get_RelPosHeading(curr_timestamp, reported_heading, relative_distance, relative_down_pos, reported_heading_acc);
if (last_timestamp == curr_timestamp) {
if (last_relposheading_ms == curr_timestamp) {
return;
}
last_timestamp = curr_timestamp;
last_relposheading_ms = curr_timestamp;
ardupilot_gnss_RelPosHeading relpos {};
relpos.timestamp.usec = uint64_t(curr_timestamp)*1000LLU;
relpos.reported_heading_deg = reported_heading;