void LR_MsgHandler_ARM::process_message(uint8_t *msg)
{
wait_timestamp_from_msg(msg);
uint8_t ArmState = require_field_uint8_t(msg, "ArmState");
hal.util->set_soft_armed(ArmState);
printf("Armed state: %u at %lu\n",
(unsigned)ArmState,
(unsigned long)AP_HAL::millis());
}
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;
}
gps.setHIL(gps_offset,
(AP_GPS::GPS_Status)status,
uint32_t(time_us/1000),
loc,
vel,
require_field_uint8_t(msg, "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;
}
}
void LR_MsgHandler_Event::process_message(uint8_t *msg)
{
uint8_t id = require_field_uint8_t(msg, "Id");
if (id == DATA_ARMED) {
hal.util->set_soft_armed(true);
printf("Armed at %lu\n",
(unsigned long)AP_HAL::millis());
} else if (id == DATA_DISARMED) {
hal.util->set_soft_armed(false);
printf("Disarmed at %lu\n",
(unsigned long)AP_HAL::millis());
}
}
void LR_MsgHandler_GPS_Base::update_from_msg_gps(uint8_t gps_offset, uint8_t *msg)
{
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");
}
uint16_t GWk;
uint32_t GMS;
if (! field_value(msg, "GWk", GWk)) {
field_not_found(msg, "GWk");
}
if (! field_value(msg, "GMS", GMS)) {
field_not_found(msg, "GMS");
}
gps.setHIL(gps_offset,
(AP_GPS::GPS_Status)status,
AP_GPS::time_epoch_convert(GWk, GMS),
loc,
vel,
nsats,
hdop);
if (status == AP_GPS::GPS_OK_FIX_3D && ground_alt_cm == 0) {
ground_alt_cm = require_field_int32_t(msg, "Alt");
}
}