DJI NAZA-M controller (remote controller side) see: https://developer.mbed.org/users/okini3939/notebook/drone/
Dependencies: NECnfc SpiOLED USBHost mbed
naza.cpp
- Committer:
- okini3939
- Date:
- 2016-05-19
- Revision:
- 1:d83f8332ebfe
- Parent:
- 0:9f11e7a30865
File content as of revision 1:d83f8332ebfe:
#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; } }