File content as of revision 0:9f11e7a30865:

#include "mbed.h"
#include "Naza.h"
#include "drone.h"
#include <math.h>

#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif

extern struct Status stat;

void parseGps (uint8_t *buf) {
        struct Naza_Gps *gps = (struct Naza_Gps *)buf;

        if (gps->mask != 0) return; // mask
/*
for (int i = 0; i < 60; i ++) {
    printf(" %02x", buf[i]);
}
printf("\r\n");
*/
        if (gps->datetime) {
            stat.gps_date = 20000000 + ((gps->datetime >> 25) & 0x3f) * 10000 + ((gps->datetime >> 21) & 0x0f) * 100 + ((gps->datetime >> 16) & 0x1f);
            stat.gps_time = ((gps->datetime >> 12) & 0x0f) * 10000 + ((gps->datetime >> 6) & 0x3f) * 100 + (gps->datetime & 0x3f);
        }

        stat.gps_lng = gps->longitude;
        stat.gps_lat = gps->latitude;
        stat.gps_h    = gps->altitude;
        stat.gps_sat  = gps->satellites;
        stat.gps_type = gps->fix_type;
        stat.gps_flg  = gps->flags;

        if (stat.gps_lng && (stat.gps_lng < 1225601000 || stat.gps_lng > 1535911000)) { // yonaguni , minamitori
            stat.gps_lng = 0;
            stat.gps_lost ++;
        }
        if (stat.gps_lat && (stat.gps_lat <  202531000 || stat.gps_lat >  453326000)) { // okinotori , etorofu
            stat.gps_lat = 0;
            stat.gps_lost ++;
        }

        if (stat.gps_type == 2 || stat.gps_type == 3) {
            stat.gps_lost = 0;
        } else {
            stat.gps_lost ++;
        }
//    printf("%08d %06d lat=%9d lng=%10d h=%4d sat=%d type=%d flg=%d\r\n",
//        stat.gps_date, stat.gps_time, stat.gps_lat, stat.gps_lng, stat.gps_h, stat.gps_sat, stat.gps_type, stat.gps_flg);
}

void parseCompass (uint8_t *buf) {
        struct Naza_Compass *compass = (struct Naza_Compass *)buf;

        stat.compass_x = compass->x;
        stat.compass_y = compass->y;
        stat.compass_z = compass->z;
        float mg = sqrtf(stat.compass_x * stat.compass_x + stat.compass_y * stat.compass_y);
        stat.compass   = atanf((stat.compass_y / mg) / (stat.compass_x / mg)) * 180.0 / M_PI;

    if (stat.compass_x >= 0) {
        if (stat.compass_y <= 0) {
            stat.compass = -stat.compass;
        } else {
            stat.compass = 360 - stat.compass;
        }
    } else {
        stat.compass = 180 - stat.compass;
    }
}