struct UtmCoor_f utm_float_from_gps(struct GpsState *gps_s, uint8_t zone)
{
struct UtmCoor_f utm = {.east = 0., .north=0., .alt=0., .zone=zone};
if (bit_is_set(gps_s->valid_fields, GPS_VALID_POS_UTM_BIT)) {
/* A real UTM position is available, use the correct zone */
UTM_FLOAT_OF_BFP(utm, gps_s->utm_pos);
} else if (bit_is_set(gps_s->valid_fields, GPS_VALID_POS_LLA_BIT))
{
/* Recompute UTM coordinates in this zone */
struct UtmCoor_i utm_i;
utm_i.zone = zone;
utm_of_lla_i(&utm_i, &gps_s->lla_pos);
UTM_FLOAT_OF_BFP(utm, utm_i);
/* set utm.alt in hsml */
if (bit_is_set(gps_s->valid_fields, GPS_VALID_HMSL_BIT)) {
utm.alt = gps_s->hmsl/1000.;
} else {
utm.alt = wgs84_ellipsoid_to_geoid_i(gps_s->lla_pos.lat, gps_s->lla_pos.lon)/1000.;
}
}
return utm;
}
struct UtmCoor_i utm_int_from_gps(struct GpsState *gps_s, uint8_t zone)
{
struct UtmCoor_i utm = {.east = 0, .north=0, .alt=0, .zone=zone};
if (bit_is_set(gps_s->valid_fields, GPS_VALID_POS_UTM_BIT)) {
// A real UTM position is available, use the correct zone
UTM_COPY(utm, gps_s->utm_pos);
}
else if (bit_is_set(gps_s->valid_fields, GPS_VALID_POS_LLA_BIT)){
/* Recompute UTM coordinates in zone */
utm_of_lla_i(&utm, &gps_s->lla_pos);
/* set utm.alt in hsml */
if (bit_is_set(gps_s->valid_fields, GPS_VALID_HMSL_BIT)) {
utm.alt = gps_s->hmsl;
} else {
utm.alt = wgs84_ellipsoid_to_geoid_i(gps_s->lla_pos.lat, gps_s->lla_pos.lon);
}
}
return utm;
}
void parse_xsens_msg(void)
{
uint8_t offset = 0;
if (xsens_id == XSENS_ReqOutputModeAck_ID) {
xsens_output_mode = XSENS_ReqOutputModeAck_mode(xsens_msg_buf);
} else if (xsens_id == XSENS_ReqOutputSettings_ID) {
xsens_output_settings = XSENS_ReqOutputSettingsAck_settings(xsens_msg_buf);
} else if (xsens_id == XSENS_ReqMagneticDeclinationAck_ID) {
xsens_declination = DegOfRad(XSENS_ReqMagneticDeclinationAck_declination(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_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);
}
#if USE_GPS_XSENS
else if (xsens_id == XSENS_GPSStatus_ID) {
xsens.gps.nb_channels = XSENS_GPSStatus_nch(xsens_msg_buf);
xsens.gps.num_sv = 0;
uint8_t i;
// Do not write outside buffer
for (i = 0; i < Min(xsens.gps.nb_channels, GPS_NB_CHANNELS); i++) {
uint8_t ch = XSENS_GPSStatus_chn(xsens_msg_buf, i);
if (ch > xsens.gps.nb_channels) { continue; }
xsens.gps.svinfos[ch].svid = XSENS_GPSStatus_svid(xsens_msg_buf, i);
xsens.gps.svinfos[ch].flags = XSENS_GPSStatus_bitmask(xsens_msg_buf, i);
xsens.gps.svinfos[ch].qi = XSENS_GPSStatus_qi(xsens_msg_buf, i);
xsens.gps.svinfos[ch].cno = XSENS_GPSStatus_cnr(xsens_msg_buf, i);
if (xsens.gps.svinfos[ch].flags > 0) {
xsens.gps.num_sv++;
}
}
}
#endif
else if (xsens_id == XSENS_MTData_ID) {
/* test RAW modes else calibrated modes */
//if ((XSENS_MASK_RAWInertial(xsens_output_mode)) || (XSENS_MASK_RAWGPS(xsens_output_mode))) {
if (XSENS_MASK_RAWInertial(xsens_output_mode)) {
/* should we write raw data to separate struct? */
xsens.gyro.p = XSENS_DATA_RAWInertial_gyrX(xsens_msg_buf, offset);
xsens.gyro.q = XSENS_DATA_RAWInertial_gyrY(xsens_msg_buf, offset);
xsens.gyro.r = XSENS_DATA_RAWInertial_gyrZ(xsens_msg_buf, offset);
xsens.gyro_available = TRUE;
offset += XSENS_DATA_RAWInertial_LENGTH;
}
if (XSENS_MASK_RAWGPS(xsens_output_mode)) {
#if USE_GPS_XSENS_RAW_DATA && USE_GPS_XSENS
xsens.gps.week = 0; // FIXME
xsens.gps.tow = XSENS_DATA_RAWGPS_itow(xsens_msg_buf, offset) * 10;
xsens.gps.lla_pos.lat = XSENS_DATA_RAWGPS_lat(xsens_msg_buf, offset);
xsens.gps.lla_pos.lon = XSENS_DATA_RAWGPS_lon(xsens_msg_buf, offset);
xsens.gps.lla_pos.alt = XSENS_DATA_RAWGPS_alt(xsens_msg_buf, offset);
SetBit(xsens.gps.valid_fields, GPS_VALID_POS_LLA_BIT);
// Compute geoid (MSL) height
float hmsl = wgs84_ellipsoid_to_geoid_i(xsens.gps.lla_pos.lat, xsens.gps.lla_pos.lon);
xsens.gps.hmsl = XSENS_DATA_RAWGPS_alt(xsens_msg_buf, offset) - (hmsl * 1000.0f);
SetBit(gps.valid_fields, GPS_VALID_HMSL_BIT);
xsens.gps.ned_vel.x = XSENS_DATA_RAWGPS_vel_n(xsens_msg_buf, offset);
xsens.gps.ned_vel.y = XSENS_DATA_RAWGPS_vel_e(xsens_msg_buf, offset);
xsens.gps.ned_vel.z = XSENS_DATA_RAWGPS_vel_d(xsens_msg_buf, offset);
SetBit(gps.valid_fields, GPS_VALID_VEL_NED_BIT);
xsens.gps.pacc = XSENS_DATA_RAWGPS_hacc(xsens_msg_buf, offset) / 100;
xsens.gps.sacc = XSENS_DATA_RAWGPS_sacc(xsens_msg_buf, offset) / 100;
xsens.gps.pdop = 5; // FIXME Not output by XSens
xsens.gps_available = TRUE;
#endif
offset += XSENS_DATA_RAWGPS_LENGTH;
}
//} else {
if (XSENS_MASK_Temp(xsens_output_mode)) {
offset += XSENS_DATA_Temp_LENGTH;
}
if (XSENS_MASK_Calibrated(xsens_output_mode)) {
uint8_t l = 0;
if (!XSENS_MASK_AccOut(xsens_output_settings)) {
xsens.accel.x = XSENS_DATA_Calibrated_accX(xsens_msg_buf, offset);
xsens.accel.y = XSENS_DATA_Calibrated_accY(xsens_msg_buf, offset);
xsens.accel.z = XSENS_DATA_Calibrated_accZ(xsens_msg_buf, offset);
xsens.accel_available = TRUE;
l++;
}
if (!XSENS_MASK_GyrOut(xsens_output_settings)) {
xsens.gyro.p = XSENS_DATA_Calibrated_gyrX(xsens_msg_buf, offset);
xsens.gyro.q = XSENS_DATA_Calibrated_gyrY(xsens_msg_buf, offset);
xsens.gyro.r = XSENS_DATA_Calibrated_gyrZ(xsens_msg_buf, offset);
xsens.gyro_available = TRUE;
l++;
}
if (!XSENS_MASK_MagOut(xsens_output_settings)) {
xsens.mag.x = XSENS_DATA_Calibrated_magX(xsens_msg_buf, offset);
xsens.mag.y = XSENS_DATA_Calibrated_magY(xsens_msg_buf, offset);
xsens.mag.z = XSENS_DATA_Calibrated_magZ(xsens_msg_buf, offset);
xsens.mag_available = TRUE;
l++;
}
offset += l * XSENS_DATA_Calibrated_LENGTH / 3;
}
if (XSENS_MASK_Orientation(xsens_output_mode)) {
if (XSENS_MASK_OrientationMode(xsens_output_settings) == 0x00) {
xsens.quat.qi = XSENS_DATA_Quaternion_q0(xsens_msg_buf, offset);
xsens.quat.qx = XSENS_DATA_Quaternion_q1(xsens_msg_buf, offset);
xsens.quat.qy = XSENS_DATA_Quaternion_q2(xsens_msg_buf, offset);
xsens.quat.qz = XSENS_DATA_Quaternion_q3(xsens_msg_buf, offset);
//float_eulers_of_quat(&xsens.euler, &xsens.quat);
offset += XSENS_DATA_Quaternion_LENGTH;
}
if (XSENS_MASK_OrientationMode(xsens_output_settings) == 0x01) {
xsens.euler.phi = XSENS_DATA_Euler_roll(xsens_msg_buf, offset) * M_PI / 180;
xsens.euler.theta = XSENS_DATA_Euler_pitch(xsens_msg_buf, offset) * M_PI / 180;
xsens.euler.psi = XSENS_DATA_Euler_yaw(xsens_msg_buf, offset) * M_PI / 180;
offset += XSENS_DATA_Euler_LENGTH;
}
if (XSENS_MASK_OrientationMode(xsens_output_settings) == 0x10) {
offset += XSENS_DATA_Matrix_LENGTH;
}
xsens.new_attitude = TRUE;
}
if (XSENS_MASK_Auxiliary(xsens_output_mode)) {
uint8_t l = 0;
if (!XSENS_MASK_Aux1Out(xsens_output_settings)) {
l++;
}
if (!XSENS_MASK_Aux2Out(xsens_output_settings)) {
l++;
}
offset += l * XSENS_DATA_Auxiliary_LENGTH / 2;
}
if (XSENS_MASK_Position(xsens_output_mode)) {
xsens.lla_f.lat = RadOfDeg(XSENS_DATA_Position_lat(xsens_msg_buf, offset));
xsens.lla_f.lon = RadOfDeg(XSENS_DATA_Position_lon(xsens_msg_buf, offset));
xsens.lla_f.alt = XSENS_DATA_Position_alt(xsens_msg_buf, offset);
offset += XSENS_DATA_Position_LENGTH;
#if (! USE_GPS_XSENS_RAW_DATA) && USE_GPS_XSENS
LLA_BFP_OF_REAL(xsens.gps.lla_pos, xsens.lla_f);
SetBit(gps.valid_fields, GPS_VALID_POS_LLA_BIT);
xsens.gps_available = TRUE;
#endif
}
if (XSENS_MASK_Velocity(xsens_output_mode)) {
xsens.vel.x = XSENS_DATA_Velocity_vx(xsens_msg_buf, offset);
xsens.vel.y = XSENS_DATA_Velocity_vy(xsens_msg_buf, offset);
xsens.vel.z = XSENS_DATA_Velocity_vz(xsens_msg_buf, offset);
offset += XSENS_DATA_Velocity_LENGTH;
}
if (XSENS_MASK_Status(xsens_output_mode)) {
xsens_msg_status = XSENS_DATA_Status_status(xsens_msg_buf, offset);
#if USE_GPS_XSENS
if (bit_is_set(xsens_msg_status, 2)) { xsens.gps.fix = GPS_FIX_3D; } // gps fix
else if (bit_is_set(xsens_msg_status, 1)) { xsens.gps.fix = 0x01; } // efk valid
else { xsens.gps.fix = GPS_FIX_NONE; }
#ifdef GPS_LED
if (xsens.gps.fix == GPS_FIX_3D) {
LED_ON(GPS_LED);
} else {
LED_TOGGLE(GPS_LED);
}
#endif // GPS_LED
#endif // USE_GPS_XSENS
offset += XSENS_DATA_Status_LENGTH;
}
if (XSENS_MASK_TimeStamp(xsens_output_settings)) {
xsens.time_stamp = XSENS_DATA_TimeStamp_ts(xsens_msg_buf, offset);
offset += XSENS_DATA_TimeStamp_LENGTH;
}
if (XSENS_MASK_UTC(xsens_output_settings)) {
xsens.time.hour = XSENS_DATA_UTC_hour(xsens_msg_buf, offset);
xsens.time.min = XSENS_DATA_UTC_min(xsens_msg_buf, offset);
xsens.time.sec = XSENS_DATA_UTC_sec(xsens_msg_buf, offset);
xsens.time.nanosec = XSENS_DATA_UTC_nanosec(xsens_msg_buf, offset);
xsens.time.year = XSENS_DATA_UTC_year(xsens_msg_buf, offset);
xsens.time.month = XSENS_DATA_UTC_month(xsens_msg_buf, offset);
xsens.time.day = XSENS_DATA_UTC_day(xsens_msg_buf, offset);
offset += XSENS_DATA_UTC_LENGTH;
}
}
}
