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Merge branch 'master' of github.com:Crashpilot1000/cleanflight into Crashpilot1000-master

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This commit is contained in:
Dominic Clifton 2014-05-31 23:09:51 +01:00
commit b5f2a007d0
1 changed files with 20 additions and 5 deletions
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25
src/main/telemetry/frsky.c
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@ -150,20 +150,35 @@ static void sendTime(void)
serialize16(seconds % 60);
}
// 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)
{
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;
}
static void sendGPS(void)
{
int16_t tmp1, tmp2;
GPStoDDDMM_MMMM(GPS_coord[LAT], &tmp1, &tmp2);
sendDataHead(ID_LATITUDE_BP);
serialize16(abs(GPS_coord[LAT]) / 100000);
serialize16(tmp1);
sendDataHead(ID_LATITUDE_AP);
serialize16((abs(GPS_coord[LAT]) / 10) % 10000);
serialize16(tmp2);
sendDataHead(ID_N_S);
serialize16(GPS_coord[LAT] < 0 ? 'S' : 'N');
GPStoDDDMM_MMMM(GPS_coord[LON], &tmp1, &tmp2);
sendDataHead(ID_LONGITUDE_BP);
serialize16(abs(GPS_coord[LON]) / 100000);
serialize16(tmp1);
sendDataHead(ID_LONGITUDE_AP);
serialize16((abs(GPS_coord[LON]) / 10) % 10000);
serialize16(tmp2);
sendDataHead(ID_E_W);
serialize16(GPS_coord[LON] < 0 ? 'W' : 'E');
}