diff --git a/conf/airframes/ardrone2_raw_optitrack.xml b/conf/airframes/ardrone2_raw_optitrack.xml new file mode 100644 index 00000000000..6e4496e8f57 --- /dev/null +++ b/conf/airframes/ardrone2_raw_optitrack.xml @@ -0,0 +1,224 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + + + + + + + + + + +
+ + + + + + + + + +
+ + + + + + + + + + + + + + + + + + + + + +
+ + + +
+ + + + + + +
+ +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + +
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ +
+ + + + + + + + + + +
+ +
+ + + + + + + +
+ +
+ + + + +
+ +
+ + + + +
+ +
+ + + + + +
+ diff --git a/sw/airborne/subsystems/gps/gps_udp.c b/sw/airborne/subsystems/gps/gps_udp.c index 7f05aef3bb6..8c7d3151a08 100644 --- a/sw/airborne/subsystems/gps/gps_udp.c +++ b/sw/airborne/subsystems/gps/gps_udp.c @@ -52,6 +52,7 @@ void gps_impl_init(void) { #define STX 99 +#define UDP_GPS_INT(_udp_gps_payload) (int32_t)(*((uint8_t*)_udp_gps_payload)|*((uint8_t*)_udp_gps_payload+1)<<8|((int32_t)*((uint8_t*)_udp_gps_payload+2))<<16|((int32_t)*((uint8_t*)_udp_gps_payload+3))<<24) void gps_parse(void) { if (gps_network == NULL) return; @@ -64,8 +65,6 @@ void gps_parse(void) { // Correct MSG if ((size == GPS_UDP_MSG_LEN) && (gps_udp_read_buffer[0] == STX)) { - #define UDP_GPS_INT(_ubx_payload) (int32_t)(*((uint8_t*)_ubx_payload)|*((uint8_t*)_ubx_payload+1)<<8|((int32_t)*((uint8_t*)_ubx_payload+2))<<16|((int32_t)*((uint8_t*)_ubx_payload+3))<<24) - gps.lla_pos.lat = RadOfDeg(UDP_GPS_INT(gps_udp_read_buffer+4)); gps.lla_pos.lon = RadOfDeg(UDP_GPS_INT(gps_udp_read_buffer+8)); gps.lla_pos.alt = UDP_GPS_INT(gps_udp_read_buffer+12);