static void send_vn_info(struct transport_tx *trans, struct link_device *dev) { pprz_msg_send_VECTORNAV_INFO(trans, dev, AC_ID, &ins_vn.timestamp, &ins_vn.vn_packet.chksm_error, &ins_vn.vn_packet.hdr_error, &ins_vn.vn_packet.counter, &ins_vn.mode, &ins_vn.err, &ins_vn.ypr_u.phi, &ins_vn.ypr_u.theta, &ins_vn.ypr_u.psi); }
static void send_vn_info(struct transport_tx *trans, struct link_device *dev) { static uint16_t last_cnt = 0; static uint16_t sec_cnt = 0; sec_cnt = ahrs_vn.vn_packet.counter - last_cnt; ahrs_vn.vn_freq = sec_cnt; // update frequency counter pprz_msg_send_VECTORNAV_INFO(trans, dev, AC_ID, &ahrs_vn.vn_data.timestamp, &ahrs_vn.vn_packet.chksm_error, &ahrs_vn.vn_packet.hdr_error, &sec_cnt, &ahrs_vn.vn_data.mode, &ahrs_vn.vn_data.err, &ahrs_vn.vn_data.ypr_u.phi, &ahrs_vn.vn_data.ypr_u.theta, &ahrs_vn.vn_data.ypr_u.psi); // update counter last_cnt = ahrs_vn.vn_packet.counter; // reset mode ahrs_vn.vn_data.mode = 0; }