static void handle_ins_msg(void) { update_state_interface(); if (xsens.new_attitude) { new_ins_attitude = true; xsens.new_attitude = false; } #if USE_GPS_XSENS if (xsens.gps_available) { // Horizontal speed float fspeed = FLOAT_VECT2_NORM(xsens.vel); if (xsens.gps.fix != GPS_FIX_3D) { fspeed = 0; } xsens.gps.gspeed = fspeed * 100.; xsens.gps.speed_3d = float_vect3_norm(&xsens.vel) * 100; float fcourse = atan2f(xsens.vel.y, xsens.vel.x); xsens.gps.course = fcourse * 1e7; SetBit(xsens.gps.valid_fields, GPS_VALID_COURSE_BIT); gps_xsens_publish(); xsens.gps_available = false; } #endif // USE_GPS_XSENS }
void parse_ins_msg(void) { uint8_t offset = 0; if (xsens_id == XSENS_ReqLeverArmGpsAck_ID) { xsens_gps_arm_x = XSENS_ReqLeverArmGpsAck_x(xsens_msg_buf); xsens_gps_arm_y = XSENS_ReqLeverArmGpsAck_y(xsens_msg_buf); xsens_gps_arm_z = XSENS_ReqLeverArmGpsAck_z(xsens_msg_buf); DOWNLINK_SEND_IMU_MAG_SETTINGS(DefaultChannel, DefaultDevice, &xsens_declination, &xsens_declination, &xsens_gps_arm_x, &xsens_gps_arm_y, &xsens_gps_arm_z); } else if (xsens_id == XSENS_Error_ID) { xsens_errorcode = XSENS_Error_errorcode(xsens_msg_buf); } else if (xsens_id == XSENS_MTData2_ID) { for (offset = 0; offset < xsens_len;) { uint8_t code1 = xsens_msg_buf[offset]; uint8_t code2 = xsens_msg_buf[offset + 1]; int subpacklen = (int)xsens_msg_buf[offset + 2]; offset += 3; if (code1 == 0x10) { if (code2 == 0x10) { // UTC } else if (code2 == 0x20) { // Packet Counter } if (code2 == 0x30) { // ITOW } } else if (code1 == 0x20) { if (code2 == 0x30) { // Attitude Euler ins_phi = XSENS_DATA_Euler_roll(xsens_msg_buf, offset) * M_PI / 180; ins_theta = XSENS_DATA_Euler_pitch(xsens_msg_buf, offset) * M_PI / 180; ins_psi = XSENS_DATA_Euler_yaw(xsens_msg_buf, offset) * M_PI / 180; new_ins_attitude = 1; } } else if (code1 == 0x40) { if (code2 == 0x10) { // Delta-V ins_ax = XSENS_DATA_Acceleration_x(xsens_msg_buf, offset) * 100.0f; ins_ay = XSENS_DATA_Acceleration_y(xsens_msg_buf, offset) * 100.0f; ins_az = XSENS_DATA_Acceleration_z(xsens_msg_buf, offset) * 100.0f; } } else if (code1 == 0x80) { if (code2 == 0x20) { // Rate Of Turn ins_p = XSENS_DATA_RateOfTurn_x(xsens_msg_buf, offset) * M_PI / 180; ins_q = XSENS_DATA_RateOfTurn_y(xsens_msg_buf, offset) * M_PI / 180; ins_r = XSENS_DATA_RateOfTurn_z(xsens_msg_buf, offset) * M_PI / 180; } } else if (code1 == 0x30) { if (code2 == 0x10) { // Baro Pressure } } else if (code1 == 0xE0) { if (code2 == 0x20) { // Status Word xsens_msg_statusword = XSENS_DATA_StatusWord_status(xsens_msg_buf, offset); //gps.tow = xsens_msg_statusword; #if USE_GPS_XSENS if (bit_is_set(xsens_msg_statusword, 2) && bit_is_set(xsens_msg_statusword, 1)) { if (bit_is_set(xsens_msg_statusword, 23) && bit_is_set(xsens_msg_statusword, 24)) { gps.fix = GPS_FIX_3D; } else { gps.fix = GPS_FIX_2D; } } else { gps.fix = GPS_FIX_NONE; } #endif } } else if (code1 == 0x88) { if (code2 == 0x40) { gps.week = XSENS_DATA_GpsSol_week(xsens_msg_buf, offset); gps.num_sv = XSENS_DATA_GpsSol_numSv(xsens_msg_buf, offset); gps.pacc = XSENS_DATA_GpsSol_pAcc(xsens_msg_buf, offset); gps.sacc = XSENS_DATA_GpsSol_sAcc(xsens_msg_buf, offset); gps.pdop = XSENS_DATA_GpsSol_pDop(xsens_msg_buf, offset); } else if (code2 == 0xA0) { // SVINFO gps.tow = XSENS_XDI_GpsSvInfo_iTOW(xsens_msg_buf + offset); #if USE_GPS_XSENS gps.nb_channels = XSENS_XDI_GpsSvInfo_nch(xsens_msg_buf + offset); gps.last_3dfix_ticks = sys_time.nb_sec_rem; gps.last_3dfix_time = sys_time.nb_sec; uint8_t i; // Do not write outside buffer for (i = 0; i < Min(gps.nb_channels, GPS_NB_CHANNELS); i++) { uint8_t ch = XSENS_XDI_GpsSvInfo_chn(xsens_msg_buf + offset, i); if (ch > gps.nb_channels) { continue; } gps.svinfos[ch].svid = XSENS_XDI_GpsSvInfo_svid(xsens_msg_buf + offset, i); gps.svinfos[ch].flags = XSENS_XDI_GpsSvInfo_bitmask(xsens_msg_buf + offset, i); gps.svinfos[ch].qi = XSENS_XDI_GpsSvInfo_qi(xsens_msg_buf + offset, i); gps.svinfos[ch].cno = XSENS_XDI_GpsSvInfo_cnr(xsens_msg_buf + offset, i); } #endif } } else if (code1 == 0x50) { if (code2 == 0x10) { //gps.hmsl = XSENS_DATA_Altitude_h(xsens_msg_buf,offset)* 1000.0f; } else if (code2 == 0x20) { // Altitude Elipsoid gps.utm_pos.alt = XSENS_DATA_Altitude_h(xsens_msg_buf, offset) * 1000.0f; // Compute geoid (MSL) height float geoid_h = wgs84_ellipsoid_to_geoid(lla_f.lat, lla_f.lon); gps.hmsl = gps.utm_pos.alt - (geoid_h * 1000.0f); SetBit(gps.valid_fields, GPS_VALID_HMSL_BIT); //gps.tow = geoid_h * 1000.0f; //gps.utm_pos.alt; } else if (code2 == 0x40) { // LatLong #ifdef GPS_LED LED_TOGGLE(GPS_LED); #endif gps.last_3dfix_ticks = sys_time.nb_sec_rem; gps.last_3dfix_time = sys_time.nb_sec; gps.week = 0; // FIXME lla_f.lat = RadOfDeg(XSENS_DATA_LatLon_lat(xsens_msg_buf, offset)); lla_f.lon = RadOfDeg(XSENS_DATA_LatLon_lon(xsens_msg_buf, offset)); // Set the real UTM zone gps.utm_pos.zone = (DegOfRad(lla_f.lon) + 180) / 6 + 1; 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; SetBit(gps.valid_fields, GPS_VALID_POS_UTM_BIT); gps_xsens_publish(); } } else if (code1 == 0xD0) { if (code2 == 0x10) { // Velocity ins_vx = ((INS_FORMAT)XSENS_DATA_VelocityXYZ_x(xsens_msg_buf, offset)); ins_vy = ((INS_FORMAT)XSENS_DATA_VelocityXYZ_y(xsens_msg_buf, offset)); ins_vz = ((INS_FORMAT)XSENS_DATA_VelocityXYZ_z(xsens_msg_buf, offset)); gps.ned_vel.x = ins_vx; gps.ned_vel.y = ins_vy; gps.ned_vel.z = ins_vx; SetBit(gps.valid_fields, GPS_VALID_VEL_NED_BIT); } } if (subpacklen < 0) { subpacklen = 0; } offset += subpacklen; } /* gps.pacc = XSENS_DATA_RAWGPS_hacc(xsens_msg_buf,offset) / 100; gps.sacc = XSENS_DATA_RAWGPS_sacc(xsens_msg_buf,offset) / 100; gps.pdop = 5; // FIXME Not output by XSens */ /* */ /* ins_mx = XSENS_DATA_Calibrated_magX(xsens_msg_buf,offset); ins_my = XSENS_DATA_Calibrated_magY(xsens_msg_buf,offset); ins_mz = XSENS_DATA_Calibrated_magZ(xsens_msg_buf,offset); */ /* xsens_time_stamp = XSENS_DATA_TimeStamp_ts(xsens_msg_buf,offset); #if USE_GPS_XSENS gps.tow = xsens_time_stamp; #endif */ } }