void
AP_GPS::send_mavlink_gps2_raw(mavlink_channel_t chan)
{
static uint32_t last_send_time_ms2;
if (num_sensors() > 1 &&
status(1) > AP_GPS::NO_GPS &&
(last_send_time_ms2 == 0 || last_send_time_ms2 != last_message_time_ms(1))) {
const Location &loc = location(1);
last_send_time_ms2 = last_message_time_ms(1);
mavlink_msg_gps2_raw_send(
chan,
last_fix_time_ms(1)*(uint64_t)1000,
status(1),
loc.lat,
loc.lng,
loc.alt * 10UL,
get_hdop(1),
65535,
ground_speed(1)*100, // cm/s
ground_course_cd(1), // 1/100 degrees,
num_sats(1),
0,
0);
}
}
void
AP_GPS::send_mavlink_gps2_raw(mavlink_channel_t chan)
{
static uint32_t last_send_time_ms[MAVLINK_COMM_NUM_BUFFERS];
if (num_sensors() < 2 || status(1) <= AP_GPS::NO_GPS) {
return;
}
// when we have a GPS then only send new data
if (last_send_time_ms[chan] == last_message_time_ms(1)) {
return;
}
last_send_time_ms[chan] = last_message_time_ms(1);
const Location &loc = location(1);
mavlink_msg_gps2_raw_send(
chan,
last_fix_time_ms(1)*(uint64_t)1000,
status(1),
loc.lat,
loc.lng,
loc.alt * 10UL,
get_hdop(1),
get_vdop(1),
ground_speed(1)*100, // cm/s
ground_course_cd(1), // 1/100 degrees,
num_sats(1),
0,
0);
}
void
AP_GPS::send_mavlink_gps_raw(mavlink_channel_t chan)
{
static uint32_t last_send_time_ms[MAVLINK_COMM_NUM_BUFFERS];
if (status(0) > AP_GPS::NO_GPS) {
// when we have a GPS then only send new data
if (last_send_time_ms[chan] == last_message_time_ms(0)) {
return;
}
last_send_time_ms[chan] = last_message_time_ms(0);
} else {
// when we don't have a GPS then send at 1Hz
uint32_t now = AP_HAL::millis();
if (now - last_send_time_ms[chan] < 1000) {
return;
}
last_send_time_ms[chan] = now;
}
const Location &loc = location(0);
mavlink_msg_gps_raw_int_send(
chan,
last_fix_time_ms(0)*(uint64_t)1000,
status(0),
loc.lat, // in 1E7 degrees
loc.lng, // in 1E7 degrees
loc.alt * 10UL, // in mm
get_hdop(0),
get_vdop(0),
ground_speed(0)*100, // cm/s
ground_course_cd(0), // 1/100 degrees,
num_sats(0));
}
void
AP_GPS::send_mavlink_gps_raw(mavlink_channel_t chan)
{
static uint32_t last_send_time_ms;
if (last_send_time_ms == 0 || last_send_time_ms != last_message_time_ms(0)) {
last_send_time_ms = last_message_time_ms(0);
const Location &loc = location(0);
mavlink_msg_gps_raw_int_send(
chan,
last_fix_time_ms(0)*(uint64_t)1000,
status(0),
loc.lat, // in 1E7 degrees
loc.lng, // in 1E7 degrees
loc.alt * 10UL, // in mm
get_hdop(0),
65535,
ground_speed(0)*100, // cm/s
ground_course_cd(0), // 1/100 degrees,
num_sats(0));
}
}