Added field descriptions for the remote gps messages

paparazzi · Sep 2, 2015 · 6d696b2 · 6d696b2
1 parent 1cac358
commit 6d696b2
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/conf/messages.xml b/conf/messages.xml
@@ -2454,8 +2454,8 @@
   <message name="REMOTE_GPS_SMALL" id="54" link="broadcasted">
     <field name="ac_id"   type="uint8"/>
     <field name="numsv"   type="uint8"/>
-    <field name="pos_xyz"  type="uint32" unit="cm"/>
-    <field name="speed_xy"  type="uint32" unit="cm/s"/>
+    <field name="pos_xyz"  type="uint32" unit="cm"/>bits 31-22 x position in cm : bits 21-12 y position in cm : bits 11-2 z position in cm : bits 1 and 0 are free</field>
+    <field name="speed_xy"  type="uint32" unit="cm/s"/>bits 31-22 speed x in cm/s : bits 21-12 speed y in cm/s : bits 11-2 heading in rad*1e2 : bits 1 and 0 are free</field>
   </message>
 
   <message name="REMOTE_GPS" id="55" link="broadcasted">

diff --git a/sw/ground_segment/misc/natnet2ivy.c b/sw/ground_segment/misc/natnet2ivy.c
@@ -519,9 +519,9 @@ gboolean timeout_transmit_callback(gpointer data) {
 
       // printf("ENU Pos: %u (%.2f, %.2f, %.2f)\n", pos_xyz, pos.x, pos.y, pos.z);
 
-      uint32_t speed_xy = (((uint32_t)(speed.x*100.0)) & 0x3FF) << 22; // bits 31-21 speed x in cm/s
-      speed_xy |= (((uint32_t)(speed.x*100.0)) & 0x3FF) << 12; // bits 20-10 speed y in cm/s
-      speed_xy |= (((uint32_t)(heading*100.0)) & 0x3FF) << 2; // bits 9-0 heading in rad*1e2 (The heading is already subsampled)
+      uint32_t speed_xy = (((uint32_t)(speed.x*100.0)) & 0x3FF) << 22; // bits 31-22 speed x in cm/s
+      speed_xy |= (((uint32_t)(speed.x*100.0)) & 0x3FF) << 12; // bits 21-12 speed y in cm/s
+      speed_xy |= (((uint32_t)(heading*100.0)) & 0x3FF) << 2; // bits 11-2 heading in rad*1e2 (The heading is already subsampled)
       // bits 1 and 0 are free
 
       // printf("ENU Vel: %u (%.2f, %.2f, 0.0)\n", speed_xy, speed.x, speed.y);