Esempi in C++ (Cpp) per pprz_msg_send_VECTORNAV_INFO

Esempio n. 1

File: ins_vectornav.c Progetto: MosesWangHao/paparazzi

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);
}

Esempio n. 2

File: ahrs_vectornav.c Progetto: EwoudSmeur/paparazzi

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;
}