Diff: naza.cpp

Revision:

0:9f11e7a30865

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/naza.cpp	Thu May 19 09:03:44 2016 +0000
@@ -0,0 +1,70 @@
+#include "mbed.h"
+#include "Naza.h"
+#include "drone.h"
+#include <math.h>
+
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+
+extern struct Status stat;
+
+void parseGps (uint8_t *buf) {
+        struct Naza_Gps *gps = (struct Naza_Gps *)buf;
+
+        if (gps->mask != 0) return; // mask
+/*
+for (int i = 0; i < 60; i ++) {
+    printf(" %02x", buf[i]);
+}
+printf("\r\n");
+*/
+        if (gps->datetime) {
+            stat.gps_date = 20000000 + ((gps->datetime >> 25) & 0x3f) * 10000 + ((gps->datetime >> 21) & 0x0f) * 100 + ((gps->datetime >> 16) & 0x1f);
+            stat.gps_time = ((gps->datetime >> 12) & 0x0f) * 10000 + ((gps->datetime >> 6) & 0x3f) * 100 + (gps->datetime & 0x3f);
+        }
+
+        stat.gps_lng = gps->longitude;
+        stat.gps_lat = gps->latitude;
+        stat.gps_h    = gps->altitude;
+        stat.gps_sat  = gps->satellites;
+        stat.gps_type = gps->fix_type;
+        stat.gps_flg  = gps->flags;
+
+        if (stat.gps_lng && (stat.gps_lng < 1225601000 || stat.gps_lng > 1535911000)) { // yonaguni , minamitori
+            stat.gps_lng = 0;
+            stat.gps_lost ++;
+        }
+        if (stat.gps_lat && (stat.gps_lat <  202531000 || stat.gps_lat >  453326000)) { // okinotori , etorofu
+            stat.gps_lat = 0;
+            stat.gps_lost ++;
+        }
+
+        if (stat.gps_type == 2 || stat.gps_type == 3) {
+            stat.gps_lost = 0;
+        } else {
+            stat.gps_lost ++;
+        }
+//    printf("%08d %06d lat=%9d lng=%10d h=%4d sat=%d type=%d flg=%d\r\n",
+//        stat.gps_date, stat.gps_time, stat.gps_lat, stat.gps_lng, stat.gps_h, stat.gps_sat, stat.gps_type, stat.gps_flg);
+}
+
+void parseCompass (uint8_t *buf) {
+        struct Naza_Compass *compass = (struct Naza_Compass *)buf;
+
+        stat.compass_x = compass->x;
+        stat.compass_y = compass->y;
+        stat.compass_z = compass->z;
+        float mg = sqrtf(stat.compass_x * stat.compass_x + stat.compass_y * stat.compass_y);
+        stat.compass   = atanf((stat.compass_y / mg) / (stat.compass_x / mg)) * 180.0 / M_PI;
+
+    if (stat.compass_x >= 0) {
+        if (stat.compass_y <= 0) {
+            stat.compass = -stat.compass;
+        } else {
+            stat.compass = 360 - stat.compass;
+        }
+    } else {
+        stat.compass = 180 - stat.compass;
+    }
+}