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Added speed / altitude readings from vario / baro to HoTT, in case of no GPS fix.

This commit is contained in:
mikeller 2016-12-07 00:03:28 +13:00 committed by Michael Keller
parent f1bf914404
commit e88eba1009
2 changed files with 20 additions and 3 deletions
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19
src/main/telemetry/hott.c
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@ -64,6 +64,7 @@
#include "build/debug.h"
#include "common/axis.h"
#include "common/time.h"
#include "drivers/system.h"
@ -73,9 +74,11 @@
#include "sensors/sensors.h"
#include "sensors/battery.h"
#include "sensors/barometer.h"
#include "flight/pid.h"
#include "flight/navigation.h"
#include "flight/altitudehold.h"
#include "io/gps.h"
#include "telemetry/telemetry.h"
@ -193,15 +196,25 @@ void hottPrepareGPSResponse(HOTT_GPS_MSG_t *hottGPSMessage)
addGPSCoordinates(hottGPSMessage, GPS_coord[LAT], GPS_coord[LON]);
// GPS Speed is returned in cm/s (from io/gps.c) and must be sent in km/h (Hott requirement)
const uint16_t speed = (GPS_speed * 36) / 1000;
uint16_t speed = GPS_speed;
if (!STATE(GPS_FIX)) {
speed = vario;
}
// Speed is returned in cm/s and must be sent in km/h (Hott requirement)
speed = (speed * 36) / 1000;
hottGPSMessage->gps_speed_L = speed & 0x00FF;
hottGPSMessage->gps_speed_H = speed >> 8;
hottGPSMessage->home_distance_L = GPS_distanceToHome & 0x00FF;
hottGPSMessage->home_distance_H = GPS_distanceToHome >> 8;
const uint16_t hottGpsAltitude = (GPS_altitude) + HOTT_GPS_ALTITUDE_OFFSET; // GPS_altitude in m ; offset = 500 -> O m
uint16_t altitude = GPS_altitude;
if (!STATE(GPS_FIX)) {
altitude = baro.BaroAlt / 100;
}
const uint16_t hottGpsAltitude = (altitude) + HOTT_GPS_ALTITUDE_OFFSET; // GPS_altitude in m ; offset = 500 -> O m
hottGPSMessage->altitude_L = hottGpsAltitude & 0x00FF;
hottGPSMessage->altitude_H = hottGpsAltitude >> 8;

4
src/test/unit/telemetry_hott_unittest.cc
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@ -33,6 +33,7 @@ extern "C" {
#include "sensors/sensors.h"
#include "sensors/battery.h"
#include "sensors/barometer.h"
#include "io/serial.h"
#include "io/gps.h"
@ -172,6 +173,9 @@ int32_t mAhDrawn;
uint32_t fixedMillis = 0;
baro_t baro;
uint16_t vario;
uint32_t millis(void) {
return fixedMillis;
}