removed define fpr mpu6050 -> we will initialize it every time, doesn…

…t hurt added new message to mavlink decoding as mfd ap uses different gps message than APM
SamuelBrucksch · May 19, 2015 · 49dde44 · 49dde44
1 parent 1a7cc30
commit 49dde44
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Showing 3 changed files with 30 additions and 54 deletions.
diff --git a/open360tracker/compass.cpp b/open360tracker/compass.cpp
@@ -22,7 +22,6 @@ float smoothed[3];
 int magZero[3];
 static uint8_t magInit = 0;
 
-#ifdef MPU6050
 void initMpu6050(){
   Wire.beginTransmission(MPU6050_Address); //PWR_MGMT_1    -- DEVICE_RESET 1
   Wire.write(0x6B);
@@ -52,7 +51,6 @@ void initMpu6050(){
   Wire.write(0x02);
   Wire.endTransmission();
 }
-#endif
 
 void write(int address, int data)
 {
@@ -108,9 +106,7 @@ static uint8_t bias_collect(uint8_t bias) {
 }
 
 void initCompass() {
-  #ifdef MPU6050
-    initMpu6050();
-  #endif
+  initMpu6050();
 
   bool bret = true;
   write(HMC58X3_R_CONFB, 2 << 5);

diff --git a/open360tracker/config.h b/open360tracker/config.h
@@ -7,13 +7,6 @@
  */
 //#define DEBUG
 
-/* MPU6050 config
- * 
- * If multiwii board uses an MPU6050 and compass is connected to its bypass port we need to enable this to configure the compass over the MPU6050
- *
- */
-#define MPU6050
-
 /** PID Values
 *
 */
@@ -35,15 +28,6 @@
  */
 #define MAVLINK
 
-/* MAVLINK hacks
- * 
- * if no gps fix type or satellites are transmitted, but only coordinates then uncomment
- *
- */
-#define MAVLINK_NO_FIX
-#define MAVLINK_NO_SATS
-
-
 /* #### Baud Rate ####
  *
  * baud rate of telemetry input
@@ -52,7 +36,7 @@
  * 115200 for RVOSD (RVGS)
  * ??? for HoTT
  */
-#define BAUD 115200
+#define BAUD 9600
 
 /* #### Tilt servo 0° adjustment ####
  *
@@ -152,7 +136,7 @@
  *  Requires modified LiquidCrystal library: https://bitbucket.org/fmalpartida/new-liquidcrystal/downloads
  *
  */
-//#define LCD_DISPLAY I2C
+#define LCD_DISPLAY I2C
 
 /* ### Battery monitoring ###
  *
@@ -163,9 +147,9 @@
  */
 //#define BATTERYMONITORING
 #ifdef BATTERYMONITORING
-  #define BATTERYMONITORING_RESISTOR_1 18000
-  #define BATTERYMONITORING_RESISTOR_2 1000
-  #define BATTERYMONITORING_CORRECTION 1.0    // default 1.0
+//#define BATTERYMONITORING_RESISTOR_1 18000
+//#define BATTERYMONITORING_RESISTOR_2 1000
+//#define BATTERYMONITORING_CORRECTION 1.0    // default 1.0
 #endif
 
 /* #### Do not edit below this line */

diff --git a/open360tracker/mavlink.cpp b/open360tracker/mavlink.cpp
@@ -15,53 +15,49 @@ static int32_t p_alt = 0; // altitude
 static int16_t p_sats = 0; // number of satelites
 
 int32_t getTargetLat() {
-    return p_lat;
+  return p_lat;
 }
 
 int32_t getTargetLon() {
-    return p_lon;
+  return p_lon;
 }
 
 int16_t getTargetAlt() {
-    return p_alt;
+  return p_alt;
 }
 
 int16_t getSats() {
-    return p_sats;
+  return p_sats;
 }
 
 void mavlink_handleMessage(mavlink_message_t* msg) {
   switch (msg->msgid) {
-    case MAVLINK_MSG_ID_GPS_RAW_INT: {
+    case MAVLINK_MSG_ID_GPS_RAW_INT:
       p_lat = mavlink_msg_gps_raw_int_get_lat(msg) / 100;
       p_lon = mavlink_msg_gps_raw_int_get_lon(msg) / 100;
       p_sats = mavlink_msg_gps_raw_int_get_satellites_visible(msg);
       p_alt = mavlink_msg_gps_raw_int_get_alt(msg) / 1000;
       HAS_ALT = true;
-
-      #ifdef MAVLINK_NO_FIX
-        #ifdef MAVLINK_NO_SATS
-          //we blindly trust the data that is coming in -> needed for MFD mavlink implementation
-          if (p_lat != 0 || p_lon != 0){
-            HAS_FIX = true;
-          }else{
-            HAS_FIX = false;
-          }
-        #else
-          if (p_sats > 0){
-            HAS_FIX = true;  
-          }
-        #endif
-      #else
-        // fix_type: GPS lock 0-1=no fix, 2=2D, 3=3D
-        if (mavlink_msg_gps_raw_int_get_fix_type(msg) > 1) { 
-          HAS_FIX = true;
-        }else{
-          HAS_FIX = false;  
-        }
-      #endif
+
+      // fix_type: GPS lock 0-1=no fix, 2=2D, 3=3D
+      if (mavlink_msg_gps_raw_int_get_fix_type(msg) > 1) {
+        HAS_FIX = true;
+      } else {
+        HAS_FIX = false;
+      }
+      break;
+    case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
+      p_lat = mavlink_msg_global_position_int_get_lat(msg) / 100;
+      p_lon = mavlink_msg_global_position_int_get_lon(msg) / 100;
+      p_alt = mavlink_msg_global_position_int_get_alt(msg) / 1000;
+      HAS_ALT = true;
+
+      if (p_lat != 0 || p_lon != 0) {
+        HAS_FIX = true;
+      } else {
+        HAS_FIX = false;
+      }
       break;
-    }
   }
 }