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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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34
src/main/fc/fc_msp.c
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@ -1113,12 +1113,12 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
case MSP_RAW_GPS:
sbufWriteU8(dst, STATE(GPS_FIX));
sbufWriteU8(dst, GPS_numSat);
sbufWriteU32(dst, GPS_coord[LAT]);
sbufWriteU32(dst, GPS_coord[LON]);
sbufWriteU16(dst, GPS_altitude);
sbufWriteU16(dst, GPS_speed);
sbufWriteU16(dst, GPS_ground_course);
sbufWriteU8(dst, gpsSol.numSat);
sbufWriteU32(dst, gpsSol.llh.lat);
sbufWriteU32(dst, gpsSol.llh.lon);
sbufWriteU16(dst, gpsSol.llh.alt);
sbufWriteU16(dst, gpsSol.groundSpeed);
sbufWriteU16(dst, gpsSol.groundCourse);
break;
case MSP_COMP_GPS:
@ -1129,12 +1129,12 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
case MSP_GPSSVINFO:
sbufWriteU8(dst, GPS_numCh);
for (int i = 0; i < GPS_numCh; i++) {
sbufWriteU8(dst, GPS_svinfo_chn[i]);
sbufWriteU8(dst, GPS_svinfo_svid[i]);
sbufWriteU8(dst, GPS_svinfo_quality[i]);
sbufWriteU8(dst, GPS_svinfo_cno[i]);
}
for (int i = 0; i < GPS_numCh; i++) {
sbufWriteU8(dst, GPS_svinfo_chn[i]);
sbufWriteU8(dst, GPS_svinfo_svid[i]);
sbufWriteU8(dst, GPS_svinfo_quality[i]);
sbufWriteU8(dst, GPS_svinfo_cno[i]);
}
break;
#endif
@ -1838,11 +1838,11 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
} else {
DISABLE_STATE(GPS_FIX);
}
GPS_numSat = sbufReadU8(src);
GPS_coord[LAT] = sbufReadU32(src);
GPS_coord[LON] = sbufReadU32(src);
GPS_altitude = sbufReadU16(src);
GPS_speed = sbufReadU16(src);
gpsSol.numSat = sbufReadU8(src);
gpsSol.llh.lat = sbufReadU32(src);
gpsSol.llh.lon = sbufReadU32(src);
gpsSol.llh.alt = sbufReadU16(src);
gpsSol.groundSpeed = sbufReadU16(src);
GPS_update |= 2; // New data signalisation to GPS functions // FIXME Magic Numbers
break;