Racelogic / Mbed 2 deprecated VIPS_LTC_RAW_IMU

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Dependencies:   BufferedSerial FatFileSystemCpp mbed

Diff: main.cpp

Revision:
8:961bb15570a1
Parent:
7:87aea27cc68b
Child:
9:7214e3c3e5f8
--- a/main.cpp	Fri Feb 12 14:24:55 2021 +0000
+++ b/main.cpp	Tue Feb 16 09:53:54 2021 +0000
@@ -63,6 +63,9 @@
     double x;
     double y;
     float z;
+    uint8_t beacons;
+    uint8_t solutionType;
+    uint16_t kfStatus;
     float roll;
     float pitch;
     float yaw;
@@ -82,7 +85,7 @@
     bytes[1]=0xd9;
     *(uint16_t*)(bytes+2) = sizeof(struct outputFormat_s);
     packetOut.header = *(uint32_t*)bytes;
-    packetOut.mask = 0x0444;
+    packetOut.mask = 0x0446;
     packetOut.accuracy[0] = 0;
     packetOut.accuracy[1] = 0;
     packetOut.accuracy[2] = 0;
@@ -96,6 +99,9 @@
         packetOut.x = posPtr->X;
         packetOut.y = posPtr->Y;
         packetOut.z = posPtr->Height;
+        packetOut.beacons = posPtr->beacons;
+        packetOut.solutionType = posPtr->solutionType;
+        packetOut.kfStatus = posPtr->KFStatus;       
         packetOut.roll = posPtr->roll;
         packetOut.pitch = posPtr->pitch;
         packetOut.yaw = posPtr->yaw;
@@ -109,6 +115,9 @@
         packetOut.pitch = 0;
         packetOut.yaw = 0;
         packetOut.accuracy[3] = 0;
+        packetOut.beacons = 0;
+        packetOut.solutionType = 0;
+        packetOut.kfStatus = 0;   
     }
     FIZPort.getMostRecent(&packetOut.focus, &packetOut.iris, &packetOut.zoom);
     VIPSSerial::getCRC((void *)&packetOut, sizeof(struct outputFormat_s)-2, (void *)&packetOut.checksum);