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Merge pull request #167 from iNavFlight/ltm-send-gframe-without-gps

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Allow LTM to send G-frame even when there's no GPS
This commit is contained in:
Konstantin Sharlaimov 2016-04-24 21:15:49 +10:00
commit aea68f51a1
1 changed files with 19 additions and 16 deletions
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35
src/main/telemetry/ltm.c
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@ -130,28 +130,31 @@ static void ltm_finalise(void)
static void ltm_gframe(void)
{
uint8_t gps_fix_type = 0;
int32_t ltm_alt;
int32_t ltm_lat = 0, ltm_lon = 0, ltm_alt = 0, ltm_gs = 0;
if (!sensors(SENSOR_GPS))
return;
if (sensors(SENSOR_GPS)) {
if (gpsSol.fixType == GPS_NO_FIX)
gps_fix_type = 1;
else if (gpsSol.fixType == GPS_FIX_2D)
gps_fix_type = 2;
else if (gpsSol.fixType == GPS_FIX_3D)
gps_fix_type = 3;
if (gpsSol.fixType == GPS_NO_FIX)
gps_fix_type = 1;
else if (gpsSol.fixType == GPS_FIX_2D)
gps_fix_type = 2;
else if (gpsSol.fixType == GPS_FIX_3D)
gps_fix_type = 3;
ltm_initialise_packet('G');
ltm_serialise_32(gpsSol.llh.lat);
ltm_serialise_32(gpsSol.llh.lon);
ltm_serialise_8((uint8_t)(gpsSol.groundSpeed / 100));
ltm_lat = gpsSol.llh.lat;
ltm_lon = gpsSol.llh.lon;
ltm_gs = gpsSol.groundSpeed / 100;
}
#if defined(NAV)
ltm_alt = (sensors(SENSOR_SONAR) || sensors(SENSOR_BARO)) ? getEstimatedActualPosition(Z) : gpsSol.llh.alt; // cm
ltm_alt = getEstimatedActualPosition(Z); // cm
#else
ltm_alt = gpsSol.llh.alt; // cm
ltm_alt = sensors(SENSOR_GPS) ? gpsSol.llh.alt : 0; // cm
#endif
ltm_initialise_packet('G');
ltm_serialise_32(ltm_lat);
ltm_serialise_32(ltm_lon);
ltm_serialise_8((uint8_t)ltm_gs);
ltm_serialise_32(ltm_alt);
ltm_serialise_8((gpsSol.numSat << 2) | gps_fix_type);
ltm_finalise();