From 6d696b2a408f8473c542098f175d1eb9df699482 Mon Sep 17 00:00:00 2001 From: LodewijkSikkel Date: Wed, 2 Sep 2015 20:21:48 +0200 Subject: [PATCH] Added field descriptions for the remote gps messages --- conf/messages.xml | 4 ++-- sw/ground_segment/misc/natnet2ivy.c | 6 +++--- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/conf/messages.xml b/conf/messages.xml index 4ecac276e97..e75dbc9283b 100644 --- a/conf/messages.xml +++ b/conf/messages.xml @@ -2454,8 +2454,8 @@ - - + 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 + 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 diff --git a/sw/ground_segment/misc/natnet2ivy.c b/sw/ground_segment/misc/natnet2ivy.c index 2e4dfb0f1aa..2144735f76a 100644 --- 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);