/*
send raw GPS position information (GPS_RAW_INT, GPS2_RAW, GPS_RTK and GPS2_RTK).
returns true if messages fit into transmit buffer, false otherwise.
*/
bool GCS_MAVLINK::send_gps_raw(AP_GPS &gps)
{
if (comm_get_txspace(chan) >=
MAVLINK_MSG_ID_GPS_RAW_INT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) {
gps.send_mavlink_gps_raw(chan);
} else {
return false;
}
if (gps.highest_supported_status(0) > AP_GPS::GPS_OK_FIX_3D) {
if (comm_get_txspace(chan) >= MAVLINK_NUM_NON_PAYLOAD_BYTES+MAVLINK_MSG_ID_GPS_RTK_LEN) {
gps.send_mavlink_gps_rtk(chan);
}
}
if (gps.num_sensors() > 1 && gps.status(1) > AP_GPS::NO_GPS) {
if (comm_get_txspace(chan) >= MAVLINK_NUM_NON_PAYLOAD_BYTES+MAVLINK_MSG_ID_GPS2_RAW_LEN) {
gps.send_mavlink_gps2_raw(chan);
}
if (gps.highest_supported_status(1) > AP_GPS::GPS_OK_FIX_3D) {
if (comm_get_txspace(chan) >=
MAVLINK_NUM_NON_PAYLOAD_BYTES+MAVLINK_MSG_ID_GPS2_RTK_LEN) {
gps.send_mavlink_gps2_rtk(chan);
}
}
}
//TODO: Should check what else managed to get through...
return true;
}
/*
send raw GPS position information (GPS_RAW_INT, GPS2_RAW, GPS_RTK and GPS2_RTK).
returns true if messages fit into transmit buffer, false otherwise.
*/
bool GCS_MAVLINK::send_gps_raw(AP_GPS &gps)
{
int16_t payload_space = comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES;
if (payload_space >= MAVLINK_MSG_ID_GPS_RAW_INT_LEN) {
gps.send_mavlink_gps_raw(chan);
} else {
return false;
}
#if GPS_RTK_AVAILABLE
if (gps.highest_supported_status(0) > AP_GPS::GPS_OK_FIX_3D) {
payload_space = comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES;
if (payload_space >= MAVLINK_MSG_ID_GPS_RTK_LEN) {
gps.send_mavlink_gps_rtk(chan);
}
}
#endif
#if GPS_MAX_INSTANCES > 1
if (gps.num_sensors() > 1 && gps.status(1) > AP_GPS::NO_GPS) {
payload_space = comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES;
if (payload_space >= MAVLINK_MSG_ID_GPS2_RAW_LEN) {
gps.send_mavlink_gps2_raw(chan);
}
#if GPS_RTK_AVAILABLE
if (gps.highest_supported_status(1) > AP_GPS::GPS_OK_FIX_3D) {
payload_space = comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES;
if (payload_space >= MAVLINK_MSG_ID_GPS2_RTK_LEN) {
gps.send_mavlink_gps2_rtk(chan);
}
}
#endif
}
#endif
//TODO: Should check what else managed to get through...
return true;
}
void loop()
{
static uint32_t last_msg_ms;
// Update GPS state based on possible bytes received from the module.
gps.update();
// If new GPS data is received, output it's contents to the console
// Here we rely on the time of the message in GPS class and the time of last message
// saved in static variable last_msg_ms. When new message is received, the time
// in GPS class will be updated.
if (last_msg_ms != gps.last_message_time_ms()) {
// Reset the time of message
last_msg_ms = gps.last_message_time_ms();
// Acquire location
const Location &loc = gps.location();
// Print the contents of message
hal.console->print("Lat: ");
print_latlon(hal.console, loc.lat);
hal.console->print(" Lon: ");
print_latlon(hal.console, loc.lng);
hal.console->printf(" Alt: %.2fm GSP: %.2fm/s CoG: %d SAT: %d TIM: %u/%lu STATUS: %u\n",
loc.alt * 0.01f,
gps.ground_speed(),
(int)gps.ground_course_cd() / 100,
gps.num_sats(),
gps.time_week(),
(unsigned long)gps.time_week_ms(),
gps.status());
}
else
{
hal.console->println("It seemed like NO GPS");
}
// Delay for 10 mS will give us 100 Hz invocation rate
hal.scheduler->delay(10);
}
void AP_ADSB::send_dynamic_out(const mavlink_channel_t chan)
{
// --------------
// Knowns
AP_GPS gps = _ahrs.get_gps();
Vector3f gps_velocity = gps.velocity();
int32_t latitude = _my_loc.lat;
int32_t longitude = _my_loc.lng;
int32_t altGNSS = _my_loc.alt*0.1f; // convert cm to mm
int16_t velVert = gps_velocity.z * 1E2; // convert m/s to cm/s
int16_t nsVog = gps_velocity.x * 1E2; // convert m/s to cm/s
int16_t ewVog = gps_velocity.y * 1E2; // convert m/s to cm/s
uint8_t fixType = gps.status(); // this lines up perfectly with our enum
uint8_t emStatus = 0; // TODO: implement this ENUM. no emergency = 0
uint8_t numSats = gps.num_sats();
uint16_t squawk = 1200; // Mode A code (typically 1200 [0x04B0] for VFR)
uint32_t accHoriz = UINT_MAX;
float accHoriz_f;
if (gps.horizontal_accuracy(accHoriz_f)) {
accHoriz = accHoriz_f * 1E3; // convert m to mm
}
uint16_t accVert = USHRT_MAX;
float accVert_f;
if (gps.vertical_accuracy(accVert_f)) {
accVert = accVert_f * 1E2; // convert m to cm
}
uint16_t accVel = USHRT_MAX;
float accVel_f;
if (gps.speed_accuracy(accVel_f)) {
accVel = accVel_f * 1E3; // convert m/s to mm/s
}
uint16_t state = 0;
if (out_state._is_in_auto_mode) {
state |= UAVIONIX_ADSB_OUT_DYNAMIC_STATE_AUTOPILOT_ENABLED;
}
if (!out_state.is_flying) {
state |= UAVIONIX_ADSB_OUT_DYNAMIC_STATE_ON_GROUND;
}
// --------------
// Not Sure
uint32_t utcTime = UINT_MAX; // uint32_t utcTime,
// TODO: confirm this sets utcTime correctly
const uint64_t gps_time = gps.time_epoch_usec();
utcTime = gps_time / 1000000ULL;
// --------------
// Unknowns
// TODO: implement http://www.srh.noaa.gov/images/epz/wxcalc/pressureAltitude.pdf
int32_t altPres = INT_MAX; //_ahrs.get_baro().get_altitude() relative to home, not MSL
mavlink_msg_uavionix_adsb_out_dynamic_send(
chan,
utcTime,
latitude,
longitude,
altGNSS,
fixType,
numSats,
altPres,
accHoriz,
accVert,
accVel,
velVert,
nsVog,
ewVog,
emStatus,
state,
squawk);
}