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Cleanup GPS variables and delete unused code.

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This commit is contained in:
Dominic Clifton 2014-05-10 17:43:31 +01:00
parent be3a4c9944
commit d0559b1423
2 changed files with 16 additions and 29 deletions
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39
src/gps_common.c
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@ -33,26 +33,32 @@ extern int16_t debug[4];
// ********************** // **********************
// GPS // GPS
// ********************** // **********************
int16_t GPS_angle[ANGLE_INDEX_COUNT] = { 0, 0 }; // it's the angles that must be applied for GPS correction
int32_t GPS_coord[2]; // LAT/LON int32_t GPS_coord[2]; // LAT/LON
int32_t GPS_home[2]; int32_t GPS_home[2];
int32_t GPS_hold[2]; int32_t GPS_hold[2];
uint8_t GPS_numSat; uint8_t GPS_numSat;
uint8_t GPS_update = 0; // it's a binary toggle to distinct a GPS position update
uint16_t GPS_distanceToHome; // distance to home point in meters uint16_t GPS_distanceToHome; // distance to home point in meters
int16_t GPS_directionToHome; // direction to home or hol point in degrees int16_t GPS_directionToHome; // direction to home or hol point in degrees
uint16_t GPS_altitude; // altitude in 0.1m uint16_t GPS_altitude; // altitude in 0.1m
uint16_t GPS_speed; // speed in 0.1m/s uint16_t GPS_speed; // speed in 0.1m/s
uint8_t GPS_update = 0; // it's a binary toogle to distinct a GPS position update
int16_t GPS_angle[ANGLE_INDEX_COUNT] = { 0, 0 }; // it's the angles that must be applied for GPS correction
uint16_t GPS_ground_course = 0; // degrees * 10 uint16_t GPS_ground_course = 0; // degrees * 10
int16_t nav[2];
int16_t nav_rated[2]; // Adding a rate controller to the navigation to make it smoother
int8_t nav_mode = NAV_MODE_NONE; // Navigation mode
uint8_t GPS_numCh; // Number of channels uint8_t GPS_numCh; // Number of channels
uint8_t GPS_svinfo_chn[16]; // Channel number uint8_t GPS_svinfo_chn[16]; // Channel number
uint8_t GPS_svinfo_svid[16]; // Satellite ID uint8_t GPS_svinfo_svid[16]; // Satellite ID
uint8_t GPS_svinfo_quality[16]; // Bitfield Qualtity uint8_t GPS_svinfo_quality[16]; // Bitfield Qualtity
uint8_t GPS_svinfo_cno[16]; // Carrier to Noise Ratio (Signal Strength) uint8_t GPS_svinfo_cno[16]; // Carrier to Noise Ratio (Signal Strength)
static int16_t nav[2];
static int16_t nav_rated[2]; // Adding a rate controller to the navigation to make it smoother
int8_t nav_mode = NAV_MODE_NONE; // Navigation mode
static uint8_t gpsProvider; static uint8_t gpsProvider;
// GPS timeout for wrong baud rate/disconnection/etc in milliseconds (default 2.5second) // GPS timeout for wrong baud rate/disconnection/etc in milliseconds (default 2.5second)
@ -118,7 +124,7 @@ typedef struct gpsData_t {
} gpsData_t; } gpsData_t;
gpsData_t gpsData; static gpsData_t gpsData;
bool areSticksInApModePosition(uint16_t ap_mode); // FIXME should probably live in rc_sticks.h bool areSticksInApModePosition(uint16_t ap_mode); // FIXME should probably live in rc_sticks.h
@ -315,25 +321,6 @@ typedef struct {
int16_t last_velocity; int16_t last_velocity;
} LeadFilter_PARAM; } LeadFilter_PARAM;
void leadFilter_clear(LeadFilter_PARAM *param)
{
param->last_velocity = 0;
}
int32_t leadFilter_getPosition(LeadFilter_PARAM *param, int32_t pos, int16_t vel, float lag_in_seconds)
{
int16_t accel_contribution = (vel - param->last_velocity) * lag_in_seconds * lag_in_seconds;
int16_t vel_contribution = vel * lag_in_seconds;
// store velocity for next iteration
param->last_velocity = vel;
return pos + vel_contribution + accel_contribution;
}
LeadFilter_PARAM xLeadFilter;
LeadFilter_PARAM yLeadFilter;
typedef struct { typedef struct {
float kP; float kP;
float kI; float kI;
@ -1179,7 +1166,7 @@ enum {
MSG_CFG_RATE = 0x08, MSG_CFG_RATE = 0x08,
MSG_CFG_SET_RATE = 0x01, MSG_CFG_SET_RATE = 0x01,
MSG_CFG_NAV_SETTINGS = 0x24 MSG_CFG_NAV_SETTINGS = 0x24
} ubs_protocol_bytes; } ubx_protocol_bytes;
enum { enum {
FIX_NONE = 0, FIX_NONE = 0,

6
src/gps_common.h
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@ -47,15 +47,15 @@ extern int16_t GPS_angle[ANGLE_INDEX_COUNT]; // it's the angles t
extern int32_t GPS_coord[2]; // LAT/LON extern int32_t GPS_coord[2]; // LAT/LON
extern int32_t GPS_home[2]; extern int32_t GPS_home[2];
extern int32_t GPS_hold[2]; extern int32_t GPS_hold[2];
extern uint8_t GPS_numSat; extern uint8_t GPS_numSat;
extern uint8_t GPS_update; // it's a binary toogle to distinct a GPS position update
extern uint16_t GPS_distanceToHome; // distance to home point in meters extern uint16_t GPS_distanceToHome; // distance to home point in meters
extern int16_t GPS_directionToHome; // direction to home or hol point in degrees extern int16_t GPS_directionToHome; // direction to home or hol point in degrees
extern uint16_t GPS_altitude; // altitude in 0.1m extern uint16_t GPS_altitude; // altitude in 0.1m
extern uint16_t GPS_speed; // speed in 0.1m/s extern uint16_t GPS_speed; // speed in 0.1m/s
extern uint16_t GPS_ground_course; // degrees * 10 extern uint16_t GPS_ground_course; // degrees * 10
extern uint8_t GPS_update; // it's a binary toogle to distinct a GPS position update
extern uint8_t GPS_numCh; // Number of channels extern uint8_t GPS_numCh; // Number of channels
extern uint8_t GPS_svinfo_chn[16]; // Channel number extern uint8_t GPS_svinfo_chn[16]; // Channel number
extern uint8_t GPS_svinfo_svid[16]; // Satellite ID extern uint8_t GPS_svinfo_svid[16]; // Satellite ID