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Converted satellite_info topic to generated topic

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Lorenz Meier
2015-07-12 12:33:26 +02:00
parent 24fdb5d532
commit ffb9e87161
4 changed files with 18 additions and 9 deletions
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9
msg/satellite_info.msg Normal file
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@@ -0,0 +1,9 @@
uint8 SAT_INFO_MAX_SATELLITES = 20
uint64 timestamp # Timestamp of satellite info
uint8 count # Number of satellites in satellite info
uint8[20] svid # Space vehicle ID [1..255], see scheme below
uint8[20] used # 0: Satellite not used, 1: used for navigation
uint8[20] elevation # Elevation (0: right on top of receiver, 90: on the horizon) of satellite
uint8[20] azimuth # Direction of satellite, 0: 0 deg, 255: 360 deg.
uint8[20] snr # dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite.

2
src/drivers/gps/ashtech.cpp
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@@ -472,7 +472,7 @@ int ASHTECH::handle_message(int len)
if (this_msg_num == all_msg_num) { if (this_msg_num == all_msg_num) {
end = tot_sv_visible - (this_msg_num - 1) * 4; end = tot_sv_visible - (this_msg_num - 1) * 4;
_gps_position->satellites_used = tot_sv_visible; _gps_position->satellites_used = tot_sv_visible;
_satellite_info->count = SAT_INFO_MAX_SATELLITES; _satellite_info->count = satellite_info_s::SAT_INFO_MAX_SATELLITES;
_satellite_info->timestamp = hrt_absolute_time(); _satellite_info->timestamp = hrt_absolute_time();
} }

14
src/drivers/gps/ashtech.h
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@@ -42,10 +42,10 @@
#ifndef RECV_BUFFER_SIZE #ifndef RECV_BUFFER_SIZE
#define RECV_BUFFER_SIZE 512 #define RECV_BUFFER_SIZE 512
#define SAT_INFO_MAX_SATELLITES 20
#endif #endif
#include <uORB/topics/satellite_info.h>
class ASHTECH : public GPS_Helper class ASHTECH : public GPS_Helper
{ {
@@ -70,11 +70,11 @@ class ASHTECH : public GPS_Helper
bool _gsv_in_progress; /**< Indicates that gsv data parsing is in progress */ bool _gsv_in_progress; /**< Indicates that gsv data parsing is in progress */
/* int _satellites_count; **< Number of satellites info parsed. */ /* int _satellites_count; **< Number of satellites info parsed. */
uint8_t count; /**< Number of satellites in satellite info */ uint8_t count; /**< Number of satellites in satellite info */
uint8_t svid[SAT_INFO_MAX_SATELLITES]; /**< Space vehicle ID [1..255], see scheme below */ uint8_t svid[satellite_info_s::SAT_INFO_MAX_SATELLITES]; /**< Space vehicle ID [1..255], see scheme below */
uint8_t used[SAT_INFO_MAX_SATELLITES]; /**< 0: Satellite not used, 1: used for navigation */ uint8_t used[satellite_info_s::SAT_INFO_MAX_SATELLITES]; /**< 0: Satellite not used, 1: used for navigation */
uint8_t elevation[SAT_INFO_MAX_SATELLITES]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */ uint8_t elevation[satellite_info_s::SAT_INFO_MAX_SATELLITES]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
uint8_t azimuth[SAT_INFO_MAX_SATELLITES]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */ uint8_t azimuth[satellite_info_s::SAT_INFO_MAX_SATELLITES]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
uint8_t snr[SAT_INFO_MAX_SATELLITES]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. */ uint8_t snr[satellite_info_s::SAT_INFO_MAX_SATELLITES]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. */
public: public:
ASHTECH(const int &fd, struct vehicle_gps_position_s *gps_position, struct satellite_info_s *satellite_info); ASHTECH(const int &fd, struct vehicle_gps_position_s *gps_position, struct satellite_info_s *satellite_info);

2
src/drivers/gps/ubx.cpp
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@@ -627,7 +627,7 @@ UBX::payload_rx_add_nav_svinfo(const uint8_t b)
} else { } else {
if (_rx_payload_index == sizeof(ubx_payload_rx_nav_svinfo_part1_t)) { if (_rx_payload_index == sizeof(ubx_payload_rx_nav_svinfo_part1_t)) {
// Part 1 complete: decode Part 1 buffer // Part 1 complete: decode Part 1 buffer
_satellite_info->count = MIN(_buf.payload_rx_nav_svinfo_part1.numCh, SAT_INFO_MAX_SATELLITES); _satellite_info->count = MIN(_buf.payload_rx_nav_svinfo_part1.numCh, satellite_info_s::SAT_INFO_MAX_SATELLITES);
UBX_TRACE_SVINFO("SVINFO len %u numCh %u\n", (unsigned)_rx_payload_length, (unsigned)_buf.payload_rx_nav_svinfo_part1.numCh); UBX_TRACE_SVINFO("SVINFO len %u numCh %u\n", (unsigned)_rx_payload_length, (unsigned)_buf.payload_rx_nav_svinfo_part1.numCh);
} }
if (_rx_payload_index < sizeof(ubx_payload_rx_nav_svinfo_part1_t) + _satellite_info->count * sizeof(ubx_payload_rx_nav_svinfo_part2_t)) { if (_rx_payload_index < sizeof(ubx_payload_rx_nav_svinfo_part1_t) + _satellite_info->count * sizeof(ubx_payload_rx_nav_svinfo_part2_t)) {