void booz_gps_skytraq_read_message(void) {
DEBUG_S1_ON();
if (booz_gps_skytraq.msg_id == SKYTRAQ_ID_NAVIGATION_DATA) {
booz_gps_state.ecef_pos.x = SKYTRAQ_NAVIGATION_DATA_ECEFX(booz_gps_skytraq.msg_buf);
booz_gps_state.ecef_pos.y = SKYTRAQ_NAVIGATION_DATA_ECEFY(booz_gps_skytraq.msg_buf);
booz_gps_state.ecef_pos.z = SKYTRAQ_NAVIGATION_DATA_ECEFZ(booz_gps_skytraq.msg_buf);
booz_gps_state.ecef_vel.x = SKYTRAQ_NAVIGATION_DATA_ECEFVX(booz_gps_skytraq.msg_buf);
booz_gps_state.ecef_vel.y = SKYTRAQ_NAVIGATION_DATA_ECEFVY(booz_gps_skytraq.msg_buf);
booz_gps_state.ecef_vel.z = SKYTRAQ_NAVIGATION_DATA_ECEFVZ(booz_gps_skytraq.msg_buf);
booz_gps_state.lla_pos.lat = SKYTRAQ_NAVIGATION_DATA_LAT(booz_gps_skytraq.msg_buf);
booz_gps_state.lla_pos.lon = SKYTRAQ_NAVIGATION_DATA_LON(booz_gps_skytraq.msg_buf);
booz_gps_state.lla_pos.alt = SKYTRAQ_NAVIGATION_DATA_AEL(booz_gps_skytraq.msg_buf);
booz_gps_state.hmsl = SKYTRAQ_NAVIGATION_DATA_ASL(booz_gps_skytraq.msg_buf);
// pacc;
// sacc;
// booz_gps_state.pdop = SKYTRAQ_NAVIGATION_DATA_PDOP(booz_gps_skytraq.msg_buf);
booz_gps_state.num_sv = SKYTRAQ_NAVIGATION_DATA_NumSV(booz_gps_skytraq.msg_buf);
booz_gps_state.fix = SKYTRAQ_NAVIGATION_DATA_FixMode(booz_gps_skytraq.msg_buf);
booz_gps_state.tow = SKYTRAQ_NAVIGATION_DATA_TOW(booz_gps_skytraq.msg_buf);
DEBUG_S2_TOGGLE();
#ifdef GPS_LED
if (booz_gps_state.fix == BOOZ2_GPS_FIX_3D) {
LED_ON(GPS_LED);
}
else {
LED_TOGGLE(GPS_LED);
}
#endif
}
DEBUG_S1_OFF();
}
void gps_skytraq_read_message(void) {
//DEBUG_S1_ON();
if (gps_skytraq.msg_id == SKYTRAQ_ID_NAVIGATION_DATA) {
gps.ecef_pos.x = SKYTRAQ_NAVIGATION_DATA_ECEFX(gps_skytraq.msg_buf);
gps.ecef_pos.y = SKYTRAQ_NAVIGATION_DATA_ECEFY(gps_skytraq.msg_buf);
gps.ecef_pos.z = SKYTRAQ_NAVIGATION_DATA_ECEFZ(gps_skytraq.msg_buf);
gps.ecef_vel.x = SKYTRAQ_NAVIGATION_DATA_ECEFVX(gps_skytraq.msg_buf);
gps.ecef_vel.y = SKYTRAQ_NAVIGATION_DATA_ECEFVY(gps_skytraq.msg_buf);
gps.ecef_vel.z = SKYTRAQ_NAVIGATION_DATA_ECEFVZ(gps_skytraq.msg_buf);
gps.lla_pos.lat = RadOfDeg(SKYTRAQ_NAVIGATION_DATA_LAT(gps_skytraq.msg_buf));
gps.lla_pos.lon = RadOfDeg(SKYTRAQ_NAVIGATION_DATA_LON(gps_skytraq.msg_buf));
gps.lla_pos.alt = SKYTRAQ_NAVIGATION_DATA_AEL(gps_skytraq.msg_buf)/10;
gps.hmsl = SKYTRAQ_NAVIGATION_DATA_ASL(gps_skytraq.msg_buf)/10;
// pacc;
// sacc;
// gps.pdop = SKYTRAQ_NAVIGATION_DATA_PDOP(gps_skytraq.msg_buf);
gps.num_sv = SKYTRAQ_NAVIGATION_DATA_NumSV(gps_skytraq.msg_buf);
gps.tow = SKYTRAQ_NAVIGATION_DATA_TOW(gps_skytraq.msg_buf)/10;
switch (SKYTRAQ_NAVIGATION_DATA_FixMode(gps_skytraq.msg_buf)) {
case SKYTRAQ_FIX_3D_DGPS:
case SKYTRAQ_FIX_3D:
gps.fix = GPS_FIX_3D;
break;
case SKYTRAQ_FIX_2D:
gps.fix = GPS_FIX_2D;
break;
default:
gps.fix = GPS_FIX_NONE;
}
#if GPS_USE_LATLONG
/* Computes from (lat, long) in the referenced UTM zone */
struct LlaCoor_f lla_f;
lla_f.lat = ((float) gps.lla_pos.lat) / 1e7;
lla_f.lon = ((float) gps.lla_pos.lon) / 1e7;
struct UtmCoor_f utm_f;
utm_f.zone = nav_utm_zone0;
/* convert to utm */
utm_of_lla_f(&utm_f, &lla_f);
/* copy results of utm conversion */
gps.utm_pos.east = utm_f.east*100;
gps.utm_pos.north = utm_f.north*100;
gps.utm_pos.alt = gps.lla_pos.alt;
gps.utm_pos.zone = nav_utm_zone0;
#endif
if ( gps.fix == GPS_FIX_3D ) {
if ( distance_too_great( &ref_ltp.ecef, &gps.ecef_pos ) ) {
// just grab current ecef_pos as reference.
ltp_def_from_ecef_i( &ref_ltp, &gps.ecef_pos );
}
// convert ecef velocity vector to NED vector.
ned_of_ecef_vect_i( &gps.ned_vel, &ref_ltp, &gps.ecef_vel );
// ground course in radians
gps.course = ( M_PI_4 + atan2( -gps.ned_vel.y, gps.ned_vel.x )) * 1e7;
// GT: gps.cacc = ... ? what should course accuracy be?
// ground speed
gps.gspeed = sqrt( gps.ned_vel.x * gps.ned_vel.x + gps.ned_vel.y * gps.ned_vel.y );
gps.speed_3d = sqrt( gps.ned_vel.x * gps.ned_vel.x + gps.ned_vel.y * gps.ned_vel.y + gps.ned_vel.z * gps.ned_vel.z );
// vertical speed (climb)
// solved by gps.ned.z?
}
//DEBUG_S2_TOGGLE();
#ifdef GPS_LED
if (gps.fix == GPS_FIX_3D) {
LED_ON(GPS_LED);
}
else {
LED_TOGGLE(GPS_LED);
}
#endif
}
//DEBUG_S1_OFF();
}