void trigger_ext_periodic( void ) {
if (trig_ext_valid == TRUE) {
uint8_t ac_id = 0;
uint8_t turb_id = TURBINE_ID;
uint32_t sync_itow, cycle_time;
sync_itow = gps_tow_from_sys_ticks(trigger_t0);
cycle_time = MSEC_OF_SYS_TIME_TICKS(delta_t0);
DOWNLINK_SEND_WINDTURBINE_STATUS_(DefaultChannel, DefaultDevice,
&ac_id,
&turb_id,
&sync_itow,
&cycle_time );
trig_ext_valid = FALSE;
}
}
int parse_acinfo_dl()
{
uint8_t sender_id = SenderIdOfPprzMsg(dl_buffer);
uint8_t msg_id = IdOfPprzMsg(dl_buffer);
if (sender_id > 0) {
switch (msg_id) {
case DL_GPS_SMALL: {
uint32_t multiplex_speed = DL_GPS_SMALL_multiplex_speed(dl_buffer);
// decode compressed values
int16_t course = (int16_t)((multiplex_speed >> 21) & 0x7FF); // bits 31-21 course in decideg
if (course & 0x400) {
course |= 0xF800; // fix for twos complements
}
course *= 2; // scale course by resolution
int16_t gspeed = (int16_t)((multiplex_speed >> 10) & 0x7FF); // bits 20-10 ground speed cm/s
if (gspeed & 0x400) {
gspeed |= 0xF800; // fix for twos complements
}
int16_t climb = (int16_t)(multiplex_speed & 0x3FF); // bits 9-0 z climb speed in cm/s
if (climb & 0x200) {
climb |= 0xFC00; // fix for twos complements
}
set_ac_info_lla(sender_id,
DL_GPS_SMALL_lla_lat(dl_buffer),
DL_GPS_SMALL_lla_lon(dl_buffer),
(int32_t)DL_GPS_SMALL_alt(dl_buffer) * 10,
course,
gspeed,
climb,
gps_tow_from_sys_ticks(sys_time.nb_tick));
}
break;
case DL_GPS: {
set_ac_info(sender_id,
DL_GPS_utm_east(dl_buffer),
DL_GPS_utm_north(dl_buffer),
DL_GPS_alt(dl_buffer),
DL_GPS_utm_zone(dl_buffer),
DL_GPS_course(dl_buffer),
DL_GPS_speed(dl_buffer),
DL_GPS_climb(dl_buffer),
DL_GPS_itow(dl_buffer));
}
break;
case DL_GPS_LLA: {
set_ac_info_lla(sender_id,
DL_GPS_LLA_lat(dl_buffer),
DL_GPS_LLA_lon(dl_buffer),
DL_GPS_LLA_alt(dl_buffer),
DL_GPS_LLA_course(dl_buffer),
DL_GPS_LLA_speed(dl_buffer),
DL_GPS_LLA_climb(dl_buffer),
DL_GPS_LLA_itow(dl_buffer));
}
break;
default:
return 0;
}
} else {
switch (msg_id) {
