-ground course added into MSP_RAW_GPS

-variometer added into MSP_ALTITUDE git-svn-id: http://multiwii.googlecode.com/svn/trunk/MultiWii_shared@1172 02679b44-d973-9852-f2fa-63770883b36c
readerror67 · Oct 7, 2012 · 94ef089 · 94ef089
1 parent 41b801d
commit 94ef089
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Showing 3 changed files with 9 additions and 5 deletions.
diff --git a/IMU.ino b/IMU.ino
@@ -352,6 +352,7 @@ void getEstimatedAltitude(){
   //D
   float vel_tmp = vel;
   applyDeadband(vel_tmp, 5);
+  vario = vel_tmp;
   BaroPID -= constrain(conf.D8[PIDALT] * vel_tmp / 20, -150, 150);
   debug[3] = BaroPID;
 

diff --git a/MultiWii.ino b/MultiWii.ino
@@ -159,6 +159,7 @@ static int32_t  EstAlt;             // in cm
 static int16_t  BaroPID = 0;
 static int32_t  AltHold;
 static int16_t  errorAltitudeI = 0;
+static int16_t  vario = 0;              // variometer in cm/s
 #if defined(BUZZER)
   static uint8_t  toggleBeep = 0;
 #endif

diff --git a/Serial.ino b/Serial.ino
@@ -30,15 +30,15 @@ static uint8_t inBuf[INBUF_SIZE][UART_NUMBER];
 #define MSP_VERSION              0
 
 #define MSP_IDENT                100   //out message         multitype + multiwii version + protocol version + capability variable
-#define MSP_STATUS               101   //out message         cycletime & errors_count & sensor present & box activation
+#define MSP_STATUS               101   //out message         cycletime & errors_count & sensor present & box activation & current setting number
 #define MSP_RAW_IMU              102   //out message         9 DOF
 #define MSP_SERVO                103   //out message         8 servos
 #define MSP_MOTOR                104   //out message         8 motors
 #define MSP_RC                   105   //out message         8 rc chan
-#define MSP_RAW_GPS              106   //out message         fix, numsat, lat, lon, alt, speed
+#define MSP_RAW_GPS              106   //out message         fix, numsat, lat, lon, alt, speed, ground course
 #define MSP_COMP_GPS             107   //out message         distance home, direction home
 #define MSP_ATTITUDE             108   //out message         2 angles 1 heading
-#define MSP_ALTITUDE             109   //out message         1 altitude
+#define MSP_ALTITUDE             109   //out message         altitude, variometer
 #define MSP_BAT                  110   //out message         vbat, powermetersum
 #define MSP_RC_TUNING            111   //out message         rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
 #define MSP_PID                  112   //out message         up to 16 P I D (8 are used)
@@ -321,13 +321,14 @@ void evaluateCommand() {
      break;
    #if GPS
    case MSP_RAW_GPS:
-     headSerialReply(14);
+     headSerialReply(16);
      serialize8(f.GPS_FIX);
      serialize8(GPS_numSat);
      serialize32(GPS_coord[LAT]);
      serialize32(GPS_coord[LON]);
      serialize16(GPS_altitude);
      serialize16(GPS_speed);
+     serialize16(GPS_ground_course);        // added since r1172
      break;
    case MSP_COMP_GPS:
      headSerialReply(5);
@@ -343,8 +344,9 @@ void evaluateCommand() {
      serialize16(headFreeModeHold);
      break;
    case MSP_ALTITUDE:
-     headSerialReply(4);
+     headSerialReply(6);
      serialize32(EstAlt);
+     serialize16(vario);                  // added since r1172
      break;
    case MSP_BAT:
      headSerialReply(3);