Racelogic / Mbed 2 deprecated VIPS_LTC_RAW_IMU

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Dependencies:   BufferedSerial FatFileSystemCpp mbed

Diff: VIPSSerialProtocol.cpp

Revision:
8:961bb15570a1
Parent:
7:87aea27cc68b
Child:
10:053bac3e326b
diff -r 87aea27cc68b -r 961bb15570a1 VIPSSerialProtocol.cpp
--- a/VIPSSerialProtocol.cpp	Fri Feb 12 14:24:55 2021 +0000
+++ b/VIPSSerialProtocol.cpp	Tue Feb 16 09:53:54 2021 +0000
@@ -72,7 +72,7 @@
                 } else {
                     messagePrt=0;
                 }
-            } else { // in the middle of a message                    
+            } else { // in the middle of a message
                 messagePrt++;
                 if (messagePrt==messageLength) {
                     processRxMessage();
@@ -247,9 +247,12 @@
     lastPositions[nextPosition].pos.X = *(double *)(messageInBuffer+12);
     lastPositions[nextPosition].pos.Y = *(double *)(messageInBuffer+20);
     lastPositions[nextPosition].pos.Height = *(float *)(messageInBuffer+28);
+    
     if (mask & 0x0002) { // parse status
-
-        offset +=4;
+        lastPositions[nextPosition].pos.beacons = messageInBuffer[offset++];
+        lastPositions[nextPosition].pos.solutionType = messageInBuffer[offset++];
+        lastPositions[nextPosition].pos.KFStatus = *(uint16_t*)(messageInBuffer + offset);
+        offset +=2;
     }
 
     if (mask & 0x0004) {
@@ -336,7 +339,7 @@
     // calculate timestamps as a function of time since last frame
     outputPosition.time = timeValue;
     int32_t lTime = lastPositions[lastPoint].pos.time;
-        
+
     int32_t LastTimeMark = lastPositions[lastPoint].time;
     int32_t PrevTimeMark = lastPositions[prevPoint].time;
     if (PrevTimeMark > LastTimeMark) {