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[Paparazzi-devel] Re: Paparazzi UBX protocol parser
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From: |
Antoine |
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Subject: |
[Paparazzi-devel] Re: Paparazzi UBX protocol parser |
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Date: |
Sun, 01 May 2005 16:15:33 +0200 |
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User-agent: |
Debian Thunderbird 1.0 (X11/20050116) |
Hi Hugo
Hugo Vincent wrote:
Hi Antoine,
I don't have a machine set up and working at the moment with all the
Paparazzi dependencies,
Easyest way to do that is to install a debian sarge (testing), add the line
deb http://www.recherche.enac.fr/paparazzi/debian testing main
to you /etc/apt/sources.lst
and perform a
apt-get install paparazzi
everything sould be working then
another solution is to use the the paparazzix, a knoppix based live cd
with everything installed. You can grab the iso from here :
http://www.recherche.enac.fr/paparazzi/paparazzix_0_1.iso
and am trying to use your U-Blox UBX parsing
code for my UAV project. If its not to much trouble, could you please
e-mail me a copy of the generated code for the UBX protocol and a
typical flight plane (i.e. ubx_protocol.h and flight_plan.h). Thanks in
anticipation.
here you go
A+
Antoine
Cheers,
Hugo Vincent.
/* Generated from conf/ubx.xml */
/* Please DO NOT EDIT */
#define UBX_SYNC1 0xB5
#define UBX_SYNC2 0x62
#define UBX_NAV_ID 0x01
#define UBX_NAV_POSLLH_ID 0x02
#define UBX_NAV_POSLLH_ITOW(_ubx_payload) (*((uint32_t*)(_ubx_payload+0)))
#define UBX_NAV_POSLLH_LON(_ubx_payload) (*((int32_t*)(_ubx_payload+4)))
#define UBX_NAV_POSLLH_LAT(_ubx_payload) (*((int32_t*)(_ubx_payload+8)))
#define UBX_NAV_POSLLH_HEIGHT(_ubx_payload) (*((int32_t*)(_ubx_payload+12)))
#define UBX_NAV_POSLLH_HMSL(_ubx_payload) (*((int32_t*)(_ubx_payload+16)))
#define UBX_NAV_POSLLH_Hacc(_ubx_payload) (*((uint32_t*)(_ubx_payload+20)))
#define UBX_NAV_POSLLH_Vacc(_ubx_payload) (*((uint32_t*)(_ubx_payload+24)))
#define UBX_NAV_POSUTM_ID 0x08
#define UBX_NAV_POSUTM_ITOW(_ubx_payload) (*((uint32_t*)(_ubx_payload+0)))
#define UBX_NAV_POSUTM_EAST(_ubx_payload) (*((int32_t*)(_ubx_payload+4)))
#define UBX_NAV_POSUTM_NORTH(_ubx_payload) (*((int32_t*)(_ubx_payload+8)))
#define UBX_NAV_POSUTM_ALT(_ubx_payload) (*((int32_t*)(_ubx_payload+12)))
#define UBX_NAV_POSUTM_ZONE(_ubx_payload) (*((int8_t*)(_ubx_payload+16)))
#define UBX_NAV_POSUTM_HEM(_ubx_payload) (*((int8_t*)(_ubx_payload+17)))
#define UBX_NAV_STATUS_ID 0x03
#define UBX_NAV_STATUS_ITOW(_ubx_payload) (*((uint32_t*)(_ubx_payload+0)))
#define UBX_NAV_STATUS_GPSfix(_ubx_payload) (*((uint8_t*)(_ubx_payload+4)))
#define UBX_NAV_STATUS_Flags(_ubx_payload) (*((uint8_t*)(_ubx_payload+5)))
#define UBX_NAV_STATUS_DiffS(_ubx_payload) (*((uint8_t*)(_ubx_payload+6)))
#define UBX_NAV_STATUS_res(_ubx_payload) (*((uint8_t*)(_ubx_payload+7)))
#define UBX_NAV_STATUS_TTFF(_ubx_payload) (*((uint32_t*)(_ubx_payload+8)))
#define UBX_NAV_STATUS_MSSS(_ubx_payload) (*((uint32_t*)(_ubx_payload+12)))
#define UBX_NAV_VELNED_ID 0x12
#define UBX_NAV_VELNED_ITOW(_ubx_payload) (*((uint32_t*)(_ubx_payload+0)))
#define UBX_NAV_VELNED_VEL_N(_ubx_payload) (*((int32_t*)(_ubx_payload+4)))
#define UBX_NAV_VELNED_VEL_E(_ubx_payload) (*((int32_t*)(_ubx_payload+8)))
#define UBX_NAV_VELNED_VEL_D(_ubx_payload) (*((int32_t*)(_ubx_payload+12)))
#define UBX_NAV_VELNED_Speed(_ubx_payload) (*((uint32_t*)(_ubx_payload+16)))
#define UBX_NAV_VELNED_GSpeed(_ubx_payload) (*((uint32_t*)(_ubx_payload+20)))
#define UBX_NAV_VELNED_Heading(_ubx_payload) (*((int32_t*)(_ubx_payload+24)))
#define UBX_NAV_VELNED_SAcc(_ubx_payload) (*((uint32_t*)(_ubx_payload+28)))
#define UBX_NAV_VELNED_CAcc(_ubx_payload) (*((uint32_t*)(_ubx_payload+32)))
#define UBX_NAV_SVINFO_ID 0x30
#define UBX_NAV_SVINFO_ITOW(_ubx_payload) (*((uint32_t*)(_ubx_payload+0)))
#define UBX_NAV_SVINFO_NCH(_ubx_payload) (*((uint8_t*)(_ubx_payload+4)))
#define UBX_NAV_SVINFO_RES1(_ubx_payload) (*((uint8_t*)(_ubx_payload+5)))
#define UBX_NAV_SVINFO_RES2(_ubx_payload) (*((uint8_t*)(_ubx_payload+6)))
#define UBX_NAV_SVINFO_chn(_ubx_payload,_ubx_block)
(*((uint8_t*)(_ubx_payload+7+12*_ubx_block)))
#define UBX_NAV_SVINFO_SVID(_ubx_payload,_ubx_block)
(*((uint8_t*)(_ubx_payload+8+12*_ubx_block)))
#define UBX_NAV_SVINFO_Flags(_ubx_payload,_ubx_block)
(*((uint8_t*)(_ubx_payload+9+12*_ubx_block)))
#define UBX_NAV_SVINFO_QI(_ubx_payload,_ubx_block)
(*((int8_t*)(_ubx_payload+10+12*_ubx_block)))
#define UBX_NAV_SVINFO_CNO(_ubx_payload,_ubx_block)
(*((uint8_t*)(_ubx_payload+11+12*_ubx_block)))
#define UBX_NAV_SVINFO_Elev(_ubx_payload,_ubx_block)
(*((int8_t*)(_ubx_payload+12+12*_ubx_block)))
#define UBX_NAV_SVINFO_Azim(_ubx_payload,_ubx_block)
(*((int16_t*)(_ubx_payload+13+12*_ubx_block)))
#define UBX_NAV_SVINFO_PRRes(_ubx_payload,_ubx_block)
(*((int32_t*)(_ubx_payload+15+12*_ubx_block)))
#define UBX_USR_ID 0x40
#define UBX_USR_IRSIM_ID 0x01
#define UBX_USR_IRSIM_ROLL(_ubx_payload) (*((int16_t*)(_ubx_payload+0)))
#define UBX_USR_IRSIM_PITCH(_ubx_payload) (*((int16_t*)(_ubx_payload+2)))
#define UBX_USR_SERVOS_ID 0x02
#define UBX_USR_SERVOS_N(_ubx_payload) (*((int8_t*)(_ubx_payload+0)))
#define UBX_USR_SERVOS_WIDTH(_ubx_payload,_ubx_block)
(*((uint16_t*)(_ubx_payload+1+2*_ubx_block)))
#define UBX_USR_PPM_ID 0x03
#define UBX_USR_PPM_N(_ubx_payload) (*((int8_t*)(_ubx_payload+0)))
#define UBX_USR_PPM_WIDTH(_ubx_payload,_ubx_block)
(*((uint16_t*)(_ubx_payload+1+2*_ubx_block)))
/* This file has been generated from conf/flight_plans/ricou_mic_madeleine.xml
*/
/* Please DO NOT EDIT */
#ifndef FLIGHT_PLAN_H
#define FLIGHT_PLAN_H
#define FLIGHT_PLAN_NAME "Ricou Mic"
#define NAV_UTM_EAST0 364222
#define NAV_UTM_NORTH0 4788551
#define QFU 85.0
#define WP_HOME 0
#define WAYPOINTS { \
{238.6, -0.0, 390},\
{128.2, 117.1, 390},\
{387.4, 46.2, 390},\
{369.7, -45.9, 390},\
{71.8, 33.8, 390},\
{117.0, -209.7, 390},\
{246.4, 97.7, 390},\
};
#define NB_WAYPOINT 7
#define GROUND_ALT 340.
#define SECURITY_ALT 365.
#define MAX_DIST_FROM_HOME 500.
#ifdef NAV_C
static inline void auto_nav(void) {
switch (nav_block) {
Block(0) // takeoff
if RcEvent1() { GotoBlock(1) }
switch(nav_stage) {
Label(while_1)
Stage(0)
if (! (!(launch))) Goto(endwhile_2) else NextStage();
Stage(1)
Goto(while_1)
Label(endwhile_2)
Stage(2)
if ((estimator_flight_time>8)) NextStage() else {
desired_course = RadOfDeg(QFU);
nav_pitch = 0.0;
vertical_mode = VERTICAL_MODE_AUTO_GAZ;
nav_desired_gaz = TRIM_UPPRZ(0.800000*MAX_PPRZ);
}
return;
Stage(3)
if ((estimator_z>SECURITY_ALT)) NextStage() else {
desired_course = RadOfDeg(QFU);
nav_pitch = 0.100000;
vertical_mode = VERTICAL_MODE_AUTO_CLIMB;
desired_climb = 1.500000;
}
return;
Stage(4)
GotoBlock(2)
Stage(5)
NextBlock()
}
Block(1) // cata
switch(nav_stage) {
Label(while_3)
Stage(0)
if (! (!((estimator_hspeed_mod>12)))) Goto(endwhile_4) else NextStage();
Stage(1)
Goto(while_3)
Label(endwhile_4)
Stage(2)
if ((stage_time>2)) NextStage() else {
desired_course = RadOfDeg(QFU);
nav_pitch = 0.0;
vertical_mode = VERTICAL_MODE_AUTO_GAZ;
nav_desired_gaz = TRIM_UPPRZ(0.000000*MAX_PPRZ);
}
return;
Stage(3)
if ((estimator_z>SECURITY_ALT)) NextStage() else {
desired_course = RadOfDeg(QFU);
nav_pitch = 0.0;
vertical_mode = VERTICAL_MODE_AUTO_CLIMB;
desired_climb = 2.000000;
}
return;
Stage(4)
GotoBlock(2)
Stage(5)
NextBlock()
}
Block(2) // first_circle
if RcEvent1() { GotoBlock(3) }
if RcEvent2() { GotoBlock(4) }
switch(nav_stage) {
Stage(0)
nav_pitch = 0.0;
vertical_mode = VERTICAL_MODE_AUTO_ALT;
desired_altitude = (GROUND_ALT+50);
pre_climb = 0.;
Circle(6, -(75));
return;
Stage(1)
NextBlock()
}
Block(3) // home
if RcEvent1() { GotoBlock(4) }
if RcEvent2() { GotoBlock(6) }
switch(nav_stage) {
Stage(0)
nav_pitch = 0.0;
vertical_mode = VERTICAL_MODE_AUTO_ALT;
desired_altitude = (GROUND_ALT+50);
pre_climb = 0.;
Circle(0, -(75));
return;
Stage(1)
NextBlock()
}
Block(4) // huit
if RcEvent1() { GotoBlock(5) }
switch(nav_stage) {
Stage(0)
if (approaching(1)) NextStageFrom(1) else {
fly_to(1);
nav_pitch = 0.0;
vertical_mode = VERTICAL_MODE_AUTO_ALT;
desired_altitude = waypoints[1].a;
pre_climb = 0.;
}
return;
Label(while_5)
Stage(1)
if (! (TRUE)) Goto(endwhile_6) else NextStage();
Stage(2)
if (approaching(4)) NextStageFrom(4) else {
fly_to(4);
nav_pitch = 0.0;
vertical_mode = VERTICAL_MODE_AUTO_ALT;
desired_altitude = waypoints[4].a;
pre_climb = 0.;
}
return;
Stage(3)
if (approaching(2)) NextStageFrom(2) else {
route_to(4, 2);
nav_pitch = 0.0;
vertical_mode = VERTICAL_MODE_AUTO_ALT;
desired_altitude = waypoints[2].a;
pre_climb = 0.;
}
return;
Stage(4)
if (approaching(3)) NextStageFrom(3) else {
fly_to(3);
nav_pitch = 0.0;
vertical_mode = VERTICAL_MODE_AUTO_ALT;
desired_altitude = waypoints[3].a;
pre_climb = 0.;
}
return;
Stage(5)
if (approaching(1)) NextStageFrom(1) else {
route_to(3, 1);
nav_pitch = 0.0;
vertical_mode = VERTICAL_MODE_AUTO_ALT;
desired_altitude = waypoints[1].a;
pre_climb = 0.;
}
return;
Stage(6)
Goto(while_5)
Label(endwhile_6)
Stage(7)
NextBlock()
}
Block(5) // 200
if RcEvent1() { GotoBlock(3) }
switch(nav_stage) {
Stage(0)
nav_pitch = 0.0;
vertical_mode = VERTICAL_MODE_AUTO_ALT;
desired_altitude = (GROUND_ALT+200);
pre_climb = 0.;
Circle(0, -(100));
return;
Stage(1)
GotoBlock(3)
Stage(2)
NextBlock()
}
Block(6) // final
if RcEvent1() { GotoBlock(4) }
switch(nav_stage) {
Stage(0)
nav_pitch = 0.0;
vertical_mode = VERTICAL_MODE_AUTO_ALT;
desired_altitude = (GROUND_ALT+50);
pre_climb = 0.;
Circle(5, 75);
return;
Stage(1)
NextBlock()
}
}
}
#endif // NAV_C
#endif // FLIGHT_PLAN_H
- [Paparazzi-devel] Re: Paparazzi UBX protocol parser,
Antoine <=