Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-25 01:05:27 +03:00
Code Issues Wiki Activity

Refactor FrSky GPS coordinate to use a structure since the two arguments

Browse source 
are always used together.

This also improves code readability by replacing tmp1/tmp2 with a well
named variable.
This commit is contained in:
Dominic Clifton 2014-05-31 23:18:07 +01:00
parent a207774e10
commit 83d4e1e3fa
2 changed files with 16 additions and 10 deletions
Download patch file Download diff file Expand all files Collapse all files

5
src/main/io/gps.h
View file

@ -43,6 +43,11 @@ typedef enum {
GPS_PASSTHROUGH_NO_SERIAL_PORT
} gpsEnablePassthroughResult_e;
typedef struct gpsCoordinateDDDMMmmmm_s {
int16_t dddmm;
int16_t mmmm;
} gpsCoordinateDDDMMmmmm_t;
extern int16_t GPS_angle[ANGLE_INDEX_COUNT]; // it's the angles that must be applied for GPS correction
extern int32_t GPS_coord[2]; // LAT/LON
extern int32_t GPS_home[2];

21
src/main/telemetry/frsky.c
View file

@ -152,33 +152,34 @@ static void sendTime(void)
// Frsky pdf: dddmm.mmmm
// .mmmm is returned in decimal fraction of minutes.
static void GPStoDDDMM_MMMM(int32_t mwiigps, int16_t *dddmm, int16_t *mmmm)
static void GPStoDDDMM_MMMM(int32_t mwiigps, gpsCoordinateDDDMMmmmm_t *result)
{
int32_t absgps, deg, min;
absgps = abs(mwiigps);
deg = absgps / 10000000;
absgps = (absgps - deg * 10000000) * 60; // absgps = Minutes left * 10^7
min = absgps / 10000000; // minutes left
*dddmm = deg * 100 + min;
*mmmm = (absgps - min * 10000000) / 1000;
result->dddmm = deg * 100 + min;
result->mmmm = (absgps - min * 10000000) / 1000;
}
static void sendGPS(void)
{
int16_t tmp1, tmp2;
GPStoDDDMM_MMMM(GPS_coord[LAT], &tmp1, &tmp2);
gpsCoordinateDDDMMmmmm_t coordinate;
GPStoDDDMM_MMMM(GPS_coord[LAT], &coordinate);
sendDataHead(ID_LATITUDE_BP);
serialize16(tmp1);
serialize16(coordinate.dddmm);
sendDataHead(ID_LATITUDE_AP);
serialize16(tmp2);
serialize16(coordinate.mmmm);
sendDataHead(ID_N_S);
serialize16(GPS_coord[LAT] < 0 ? 'S' : 'N');
GPStoDDDMM_MMMM(GPS_coord[LON], &tmp1, &tmp2);
GPStoDDDMM_MMMM(GPS_coord[LON], &coordinate);
sendDataHead(ID_LONGITUDE_BP);
serialize16(tmp1);
serialize16(coordinate.dddmm);
sendDataHead(ID_LONGITUDE_AP);
serialize16(tmp2);
serialize16(coordinate.mmmm);
sendDataHead(ID_E_W);
serialize16(GPS_coord[LON] < 0 ? 'W' : 'E');
}