void mf_daq_send_report(void)
{
// Send report over normal telemetry
if (mf_daq.nb > 0) {
DOWNLINK_SEND_PAYLOAD_FLOAT(DefaultChannel, DefaultDevice, 9, mf_daq.values);
}
// Test if log is started
if (pprzLogFile != -1) {
if (log_started == FALSE) {
// Log MD5SUM once
DOWNLINK_SEND_ALIVE(pprzlog_tp, chibios_sdlog, 16, MD5SUM);
log_started = true;
}
// Log GPS for time reference
uint8_t foo = 0;
int16_t climb = -gps.ned_vel.z;
int16_t course = (DegOfRad(gps.course) / ((int32_t)1e6));
struct UtmCoor_f utm = *stateGetPositionUtm_f();
int32_t east = utm.east * 100;
int32_t north = utm.north * 100;
DOWNLINK_SEND_GPS(pprzlog_tp, chibios_sdlog, &gps.fix,
&east, &north, &course, &gps.hmsl, &gps.gspeed, &climb,
&gps.week, &gps.tow, &utm.zone, &foo);
}
}
/**Send by downlink the GPS and rad_of_ir messages with \a DOWNLINK_SEND_GPS
* and \a DOWNLINK_SEND_RAD_OF_IR \n
* If \a estimator_flight_time is null and \a estimator_hspeed_mod is greater
* than \a MIN_SPEED_FOR_TAKEOFF, set the \a estimator_flight_time to 1 and \a
* launch to true (which is not set in non auto launch. Then call
* \a DOWNLINK_SEND_TAKEOFF
*/
void use_gps_pos( void ) {
if (GpsFixValid()) {
last_gps_msg_t = cpu_time_sec;
estimator_update_state_gps();
}
DOWNLINK_SEND_GPS(&gps_mode, &gps_utm_east, &gps_utm_north, &gps_course, &gps_alt, &gps_gspeed,&gps_climb, &gps_itow, &gps_utm_zone, &gps_nb_ovrn);
static uint8_t i;
if (i == gps_nb_channels) i = 0;
if (i < gps_nb_channels && gps_svinfos[i].cno > 0)
DOWNLINK_SEND_SVINFO(&i, &gps_svinfos[i].svid, &gps_svinfos[i].flags, &gps_svinfos[i].qi, &gps_svinfos[i].cno, &gps_svinfos[i].elev, &gps_svinfos[i].azim);
i++;
}
