C++ (Cpp) UDP_GPS_INT Examples

Example #1

File: gps_udp.c Project: AFVlab/DroneCompetition

void gps_parse(void)
{
  if (gps_network == NULL) { return; }

  //Read from the network
  int size = network_read(gps_network, &gps_udp_read_buffer[0], 256);

  if (size > 0) {
    // Correct MSG
    if ((size == GPS_UDP_MSG_LEN) && (gps_udp_read_buffer[0] == STX)) {
      gps.lla_pos.lat = UDP_GPS_INT(gps_udp_read_buffer + 4);
      gps.lla_pos.lon = UDP_GPS_INT(gps_udp_read_buffer + 8);
      gps.lla_pos.alt = UDP_GPS_INT(gps_udp_read_buffer + 12);
      gps.hmsl        = UDP_GPS_INT(gps_udp_read_buffer + 16);

      gps.ecef_pos.x = UDP_GPS_INT(gps_udp_read_buffer + 20);
      gps.ecef_pos.y = UDP_GPS_INT(gps_udp_read_buffer + 24);
      gps.ecef_pos.z = UDP_GPS_INT(gps_udp_read_buffer + 28);

      gps.ecef_vel.x = UDP_GPS_INT(gps_udp_read_buffer + 32);
      gps.ecef_vel.y = UDP_GPS_INT(gps_udp_read_buffer + 36);
      gps.ecef_vel.z = UDP_GPS_INT(gps_udp_read_buffer + 40);

      gps.fix = GPS_FIX_3D;

#if GPS_USE_LATLONG
      // Computes from (lat, long) in the referenced UTM zone
      struct LlaCoor_f lla_f;
      LLA_FLOAT_OF_BFP(lla_f, gps.lla_pos);
      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

      // publish new GPS data
      uint32_t now_ts = get_sys_time_usec();
      gps.last_msg_ticks = sys_time.nb_sec_rem;
      gps.last_msg_time = sys_time.nb_sec;
      if (gps.fix == GPS_FIX_3D) {
        gps.last_3dfix_ticks = sys_time.nb_sec_rem;
        gps.last_3dfix_time = sys_time.nb_sec;
      }
      AbiSendMsgGPS(GPS_UDP_ID, now_ts, &gps);

    } else {
      printf("gps_udp error: msg len invalid %d bytes\n", size);
    }
    memset(&gps_udp_read_buffer[0], 0, sizeof(gps_udp_read_buffer));
  }
}

Example #2

File: gps_udp.c Project: 1bitsquared/paparazzi

void gps_parse(void) {
  if (gps_network == NULL) return;

  //Read from the network
  int size = network_read( gps_network, &gps_udp_read_buffer[0], 256);

  if(size > 0)
  {
    // Correct MSG
    if ((size == GPS_UDP_MSG_LEN) && (gps_udp_read_buffer[0] == STX))
    {
      gps.lla_pos.lat = RadOfDeg(UDP_GPS_INT(gps_udp_read_buffer+4));
      gps.lla_pos.lon = RadOfDeg(UDP_GPS_INT(gps_udp_read_buffer+8));
      gps.lla_pos.alt = UDP_GPS_INT(gps_udp_read_buffer+12);
      gps.hmsl        = UDP_GPS_INT(gps_udp_read_buffer+16);

      gps.ecef_pos.x = UDP_GPS_INT(gps_udp_read_buffer+20);
      gps.ecef_pos.y = UDP_GPS_INT(gps_udp_read_buffer+24);
      gps.ecef_pos.z = UDP_GPS_INT(gps_udp_read_buffer+28);

      gps.ecef_vel.x = UDP_GPS_INT(gps_udp_read_buffer+32);
      gps.ecef_vel.y = UDP_GPS_INT(gps_udp_read_buffer+36);
      gps.ecef_vel.z = UDP_GPS_INT(gps_udp_read_buffer+40);

      gps.fix = GPS_FIX_3D;
      gps_available = TRUE;

#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

    }
    else
    {
      printf("gps_udp error: msg len invalid %d bytes\n",size);
    }
    memset(&gps_udp_read_buffer[0], 0, sizeof(gps_udp_read_buffer));
  }
}

Example #3

File: gps_udp.c Project: 2seasuav/paparuzzi

void gps_udp_parse(void)
{
  if (gps_network == NULL) { return; }

  //Read from the network
  int size = network_read(gps_network, &gps_udp_read_buffer[0], 256);

  if (size > 0) {
    // Correct MSG
    if ((size == GPS_UDP_MSG_LEN) && (gps_udp_read_buffer[0] == STX)) {
      gps_udp.lla_pos.lat = UDP_GPS_INT(gps_udp_read_buffer + 4);
      gps_udp.lla_pos.lon = UDP_GPS_INT(gps_udp_read_buffer + 8);
      gps_udp.lla_pos.alt = UDP_GPS_INT(gps_udp_read_buffer + 12);
      SetBit(gps_udp.valid_fields, GPS_VALID_POS_LLA_BIT);

      gps_udp.hmsl        = UDP_GPS_INT(gps_udp_read_buffer + 16);
      SetBit(gps_udp.valid_fields, GPS_VALID_HMSL_BIT);

      gps_udp.ecef_pos.x = UDP_GPS_INT(gps_udp_read_buffer + 20);
      gps_udp.ecef_pos.y = UDP_GPS_INT(gps_udp_read_buffer + 24);
      gps_udp.ecef_pos.z = UDP_GPS_INT(gps_udp_read_buffer + 28);
      SetBit(gps_udp.valid_fields, GPS_VALID_POS_ECEF_BIT);

      gps_udp.ecef_vel.x = UDP_GPS_INT(gps_udp_read_buffer + 32);
      gps_udp.ecef_vel.y = UDP_GPS_INT(gps_udp_read_buffer + 36);
      gps_udp.ecef_vel.z = UDP_GPS_INT(gps_udp_read_buffer + 40);
      SetBit(gps_udp.valid_fields, GPS_VALID_VEL_ECEF_BIT);

      gps_udp.fix = GPS_FIX_3D;

      // publish new GPS data
      uint32_t now_ts = get_sys_time_usec();
      gps_udp.last_msg_ticks = sys_time.nb_sec_rem;
      gps_udp.last_msg_time = sys_time.nb_sec;
      if (gps_udp.fix == GPS_FIX_3D) {
        gps_udp.last_3dfix_ticks = sys_time.nb_sec_rem;
        gps_udp.last_3dfix_time = sys_time.nb_sec;
      }
      AbiSendMsgGPS(GPS_UDP_ID, now_ts, &gps_udp);

    } else {
      printf("gps_udp error: msg len invalid %d bytes\n", size);
    }
    memset(&gps_udp_read_buffer[0], 0, sizeof(gps_udp_read_buffer));
  }
}