Пример #1
0
void LR_MsgHandler_ARSP::process_message(uint8_t *msg)
{
    wait_timestamp_from_msg(msg);

    airspeed.setHIL(require_field_float(msg, "Airspeed"),
		    require_field_float(msg, "DiffPress"),
		    require_field_float(msg, "Temp"));
}
Пример #2
0
void LR_MsgHandler_BARO::process_message(uint8_t *msg)
{
    wait_timestamp_from_msg(msg);
    uint32_t last_update_ms;
    if (!field_value(msg, "SMS", last_update_ms)) {
        last_update_ms = 0;
    }
    baro.setHIL(0,
		require_field_float(msg, "Press"),
		require_field_int16_t(msg, "Temp") * 0.01f,
		require_field_float(msg, "Alt"),
		require_field_float(msg, "CRt"),
                last_update_ms);
}
Пример #3
0
void LR_MsgHandler_BARO::process_message(uint8_t *msg)
{
    wait_timestamp_from_msg(msg);
    baro.setHIL(0,
		require_field_float(msg, "Press"),
		require_field_int16_t(msg, "Temp") * 0.01f);
}
Пример #4
0
void LR_MsgHandler_PARM::process_message(uint8_t *msg)
{
    const uint8_t parameter_name_len = AP_MAX_NAME_SIZE + 1; // null-term
    char parameter_name[parameter_name_len];
    uint64_t time_us;

    if (field_value(msg, "TimeUS", time_us)) {
        wait_timestamp_usec(time_us);
    } else {
        // older logs can have a lot of FMT and PARM messages up the
        // front which don't have timestamps.  Since in Replay we run
        // DataFlash's IO only when stop_clock is called, we can
        // overflow DataFlash's ringbuffer.  This should force us to
        // do IO:
        hal.scheduler->stop_clock(last_timestamp_usec);
    }

    require_field(msg, "Name", parameter_name, parameter_name_len);

    float value = require_field_float(msg, "Value");
    if (globals.no_params) {
        printf("Not changing %s to %f\n", parameter_name, value);
    } else {
        set_parameter(parameter_name, value);
    }
}
Пример #5
0
void MsgHandler::ground_vel_from_msg(uint8_t *msg,
                                     Vector3f &vel,
                                     const char *label_speed,
                                     const char *label_course,
                                     const char *label_vz)
{
    uint32_t ground_speed;
    int32_t ground_course;
    require_field(msg, label_speed, ground_speed);
    require_field(msg, label_course, ground_course);
    vel[0] = ground_speed*0.01f*cosf(radians(ground_course*0.01f));
    vel[1] = ground_speed*0.01f*sinf(radians(ground_course*0.01f));
    vel[2] = require_field_float(msg, label_vz);
}
Пример #6
0
void LR_MsgHandler_GPS_Base::update_from_msg_gps(uint8_t gps_offset, uint8_t *msg, bool responsible_for_relalt)
{
    uint64_t time_us;
    if (! field_value(msg, "TimeUS", time_us)) {
        uint32_t timestamp;
        require_field(msg, "T", timestamp);
        time_us = timestamp * 1000;
    }
    wait_timestamp_usec(time_us);

    Location loc;
    location_from_msg(msg, loc, "Lat", "Lng", "Alt");
    Vector3f vel;
    ground_vel_from_msg(msg, vel, "Spd", "GCrs", "VZ");

    uint8_t status = require_field_uint8_t(msg, "Status");
    uint8_t hdop = 0;
    if (! field_value(msg, "HDop", hdop) &&
        ! field_value(msg, "HDp", hdop)) {
        hdop = 20;
    }
    uint8_t nsats = 0;
    if (! field_value(msg, "NSats", nsats) &&
        ! field_value(msg, "numSV", nsats)) {
        field_not_found(msg, "NSats");
    }
    gps.setHIL(gps_offset,
               (AP_GPS::GPS_Status)status,
               uint32_t(time_us/1000),
               loc,
               vel,
               nsats,
               hdop,
               require_field_float(msg, "VZ") != 0);
    if (status == AP_GPS::GPS_OK_FIX_3D && ground_alt_cm == 0) {
        ground_alt_cm = require_field_int32_t(msg, "Alt");
    }

    if (responsible_for_relalt) {
        // this could possibly check for the presence of "RelAlt" label?
        int32_t tmp;
        if (! field_value(msg, "RAlt", tmp)) {
            tmp = require_field_int32_t(msg, "RelAlt");
        }
        rel_altitude = 0.01f * tmp;
    }
}
Пример #7
0
void LR_MsgHandler_NTUN_Copter::process_message(uint8_t *msg)
{
    inavpos = Vector3f(require_field_float(msg, "PosX") * 0.01f,
		       require_field_float(msg, "PosY") * 0.01f,
		       0);
}