Exemplos de SKYTRAQ_NAVIGATION_DATA_ECEFZ em C++ (Cpp)

Exemplo n.º 1

Arquivo: booz_gps_skytraq.c Projeto: 0lri/paparazzi

void booz_gps_skytraq_read_message(void) {

  DEBUG_S1_ON();

  if (booz_gps_skytraq.msg_id == SKYTRAQ_ID_NAVIGATION_DATA) {
    booz_gps_state.ecef_pos.x  = SKYTRAQ_NAVIGATION_DATA_ECEFX(booz_gps_skytraq.msg_buf);
    booz_gps_state.ecef_pos.y  = SKYTRAQ_NAVIGATION_DATA_ECEFY(booz_gps_skytraq.msg_buf);
    booz_gps_state.ecef_pos.z  = SKYTRAQ_NAVIGATION_DATA_ECEFZ(booz_gps_skytraq.msg_buf);
    booz_gps_state.ecef_vel.x  = SKYTRAQ_NAVIGATION_DATA_ECEFVX(booz_gps_skytraq.msg_buf);
    booz_gps_state.ecef_vel.y  = SKYTRAQ_NAVIGATION_DATA_ECEFVY(booz_gps_skytraq.msg_buf);
    booz_gps_state.ecef_vel.z  = SKYTRAQ_NAVIGATION_DATA_ECEFVZ(booz_gps_skytraq.msg_buf);
    booz_gps_state.lla_pos.lat = SKYTRAQ_NAVIGATION_DATA_LAT(booz_gps_skytraq.msg_buf);
    booz_gps_state.lla_pos.lon = SKYTRAQ_NAVIGATION_DATA_LON(booz_gps_skytraq.msg_buf);
    booz_gps_state.lla_pos.alt = SKYTRAQ_NAVIGATION_DATA_AEL(booz_gps_skytraq.msg_buf);
    booz_gps_state.hmsl        = SKYTRAQ_NAVIGATION_DATA_ASL(booz_gps_skytraq.msg_buf);
    //   pacc;
    //   sacc;
    //     booz_gps_state.pdop       = SKYTRAQ_NAVIGATION_DATA_PDOP(booz_gps_skytraq.msg_buf);
    booz_gps_state.num_sv      = SKYTRAQ_NAVIGATION_DATA_NumSV(booz_gps_skytraq.msg_buf);
    booz_gps_state.fix         = SKYTRAQ_NAVIGATION_DATA_FixMode(booz_gps_skytraq.msg_buf);
    booz_gps_state.tow         = SKYTRAQ_NAVIGATION_DATA_TOW(booz_gps_skytraq.msg_buf);
    DEBUG_S2_TOGGLE();

#ifdef GPS_LED
    if (booz_gps_state.fix == BOOZ2_GPS_FIX_3D) {
      LED_ON(GPS_LED);
    }
    else {
      LED_TOGGLE(GPS_LED);
    }
#endif
  }

  DEBUG_S1_OFF();
}

Exemplo n.º 2

Arquivo: gps_skytraq.c Projeto: MathieuDumas/paparazzi

void gps_skytraq_read_message(void) {

  //DEBUG_S1_ON();

  if (gps_skytraq.msg_id == SKYTRAQ_ID_NAVIGATION_DATA) {
    gps.ecef_pos.x  = SKYTRAQ_NAVIGATION_DATA_ECEFX(gps_skytraq.msg_buf);
    gps.ecef_pos.y  = SKYTRAQ_NAVIGATION_DATA_ECEFY(gps_skytraq.msg_buf);
    gps.ecef_pos.z  = SKYTRAQ_NAVIGATION_DATA_ECEFZ(gps_skytraq.msg_buf);
    gps.ecef_vel.x  = SKYTRAQ_NAVIGATION_DATA_ECEFVX(gps_skytraq.msg_buf);
    gps.ecef_vel.y  = SKYTRAQ_NAVIGATION_DATA_ECEFVY(gps_skytraq.msg_buf);
    gps.ecef_vel.z  = SKYTRAQ_NAVIGATION_DATA_ECEFVZ(gps_skytraq.msg_buf);
    gps.lla_pos.lat = RadOfDeg(SKYTRAQ_NAVIGATION_DATA_LAT(gps_skytraq.msg_buf));
    gps.lla_pos.lon = RadOfDeg(SKYTRAQ_NAVIGATION_DATA_LON(gps_skytraq.msg_buf));
    gps.lla_pos.alt = SKYTRAQ_NAVIGATION_DATA_AEL(gps_skytraq.msg_buf)/10;
    gps.hmsl        = SKYTRAQ_NAVIGATION_DATA_ASL(gps_skytraq.msg_buf)/10;
    //   pacc;
    //   sacc;
    //     gps.pdop       = SKYTRAQ_NAVIGATION_DATA_PDOP(gps_skytraq.msg_buf);
    gps.num_sv      = SKYTRAQ_NAVIGATION_DATA_NumSV(gps_skytraq.msg_buf);
    gps.tow         = SKYTRAQ_NAVIGATION_DATA_TOW(gps_skytraq.msg_buf)/10;

    switch (SKYTRAQ_NAVIGATION_DATA_FixMode(gps_skytraq.msg_buf)) {
    case SKYTRAQ_FIX_3D_DGPS:
    case SKYTRAQ_FIX_3D:
      gps.fix = GPS_FIX_3D;
      break;
    case SKYTRAQ_FIX_2D:
      gps.fix = GPS_FIX_2D;
      break;
    default:
      gps.fix = GPS_FIX_NONE;
    }

#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

    if ( gps.fix == GPS_FIX_3D ) {
      if ( distance_too_great( &ref_ltp.ecef, &gps.ecef_pos ) ) {
        // just grab current ecef_pos as reference.
        ltp_def_from_ecef_i( &ref_ltp, &gps.ecef_pos );
      }
      // convert ecef velocity vector to NED vector.
      ned_of_ecef_vect_i( &gps.ned_vel, &ref_ltp, &gps.ecef_vel );

      // ground course in radians
      gps.course = ( M_PI_4 + atan2( -gps.ned_vel.y, gps.ned_vel.x )) * 1e7;
      // GT: gps.cacc = ... ? what should course accuracy be?

      // ground speed
      gps.gspeed = sqrt( gps.ned_vel.x * gps.ned_vel.x + gps.ned_vel.y * gps.ned_vel.y );
      gps.speed_3d = sqrt( gps.ned_vel.x * gps.ned_vel.x + gps.ned_vel.y * gps.ned_vel.y + gps.ned_vel.z * gps.ned_vel.z );

      // vertical speed (climb)
      // solved by gps.ned.z?
    }



    //DEBUG_S2_TOGGLE();

#ifdef GPS_LED
    if (gps.fix == GPS_FIX_3D) {
      LED_ON(GPS_LED);
    }
    else {
      LED_TOGGLE(GPS_LED);
    }
#endif
  }

  //DEBUG_S1_OFF();
}