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Move some GPS variables into struct. Some alignment with iNav

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This commit is contained in:
Martin Budden 2017-06-25 06:55:17 +01:00
parent 582af3d515
commit 564e0c94b8
22 changed files with 192 additions and 197 deletions
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23
src/main/blackbox/blackbox.c
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@ -992,16 +992,16 @@ static void writeGPSFrame(timeUs_t currentTimeUs)
blackboxWriteUnsignedVB(currentTimeUs - blackboxHistory[1]->time);
}
blackboxWriteUnsignedVB(GPS_numSat);
blackboxWriteSignedVB(GPS_coord[0] - gpsHistory.GPS_home[0]);
blackboxWriteSignedVB(GPS_coord[1] - gpsHistory.GPS_home[1]);
blackboxWriteUnsignedVB(GPS_altitude);
blackboxWriteUnsignedVB(GPS_speed);
blackboxWriteUnsignedVB(GPS_ground_course);
blackboxWriteUnsignedVB(gpsSol.numSat);
blackboxWriteSignedVB(gpsSol.llh.lat - gpsHistory.GPS_home[LAT]);
blackboxWriteSignedVB(gpsSol.llh.lon - gpsHistory.GPS_home[LON]);
blackboxWriteUnsignedVB(gpsSol.llh.alt);
blackboxWriteUnsignedVB(gpsSol.groundSpeed);
blackboxWriteUnsignedVB(gpsSol.groundCourse);
gpsHistory.GPS_numSat = GPS_numSat;
gpsHistory.GPS_coord[0] = GPS_coord[0];
gpsHistory.GPS_coord[1] = GPS_coord[1];
gpsHistory.GPS_numSat = gpsSol.numSat;
gpsHistory.GPS_coord[LAT] = gpsSol.llh.lat;
gpsHistory.GPS_coord[LON] = gpsSol.llh.lon;
}
#endif
@ -1474,8 +1474,9 @@ static void blackboxLogIteration(timeUs_t currentTimeUs)
if (blackboxShouldLogGpsHomeFrame()) {
writeGPSHomeFrame();
writeGPSFrame(currentTimeUs);
} else if (GPS_numSat != gpsHistory.GPS_numSat || GPS_coord[0] != gpsHistory.GPS_coord[0]
|| GPS_coord[1] != gpsHistory.GPS_coord[1]) {
} else if (gpsSol.numSat != gpsHistory.GPS_numSat
|| gpsSol.llh.lat != gpsHistory.GPS_coord[LAT]
|| gpsSol.llh.lon != gpsHistory.GPS_coord[LON]) {
//We could check for velocity changes as well but I doubt it changes independent of position
writeGPSFrame(currentTimeUs);
}