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esp32-ogn-tracker
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Merge branch 'master' of https://github.com/pjalocha/esp32-ogn-tracker

pull/30/head
Pawel Jalocha 2020-10-24 00:42:20 +01:00
rodzic 833d9c0b8c 5e8b22d7aa
commit 04d27c5ce1
2 zmienionych plików z 18 dodań i 5 usunięć
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13
main/ogn1.h
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@ -568,8 +568,11 @@ class OGN1_Packet // Packet structure for the OGN tracker
Msg[Len++] = ' '; Msg[Len++] = 'i'; Msg[Len++] = 'd'; Len+=Format_Hex(Msg+Len, ((uint32_t)Position.AcftType<<26) | ((uint32_t)Header.AddrType<<24) | Header.Address); Msg[Len++] = ' '; Msg[Len++] = 'i'; Msg[Len++] = 'd'; Len+=Format_Hex(Msg+Len, ((uint32_t)Position.AcftType<<26) | ((uint32_t)Header.AddrType<<24) | Header.Address);
Msg[Len++] = ' '; Len+=Format_SignDec(Msg+Len, ((int32_t)DecodeClimbRate()*10079+256)>>9, 3); Msg[Len++] = 'f'; Msg[Len++] = 'p'; Msg[Len++] = 'm'; if(hasClimbRate())
Msg[Len++] = ' '; Len+=Format_SignDec(Msg+Len, DecodeTurnRate()/3, 2, 1); Msg[Len++] = 'r'; Msg[Len++] = 'o'; Msg[Len++] = 't'; { Msg[Len++] = ' '; Len+=Format_SignDec(Msg+Len, ((int32_t)DecodeClimbRate()*10079+256)>>9, 3); Msg[Len++] = 'f'; Msg[Len++] = 'p'; Msg[Len++] = 'm'; }
if(hasTurnRate())
{ Msg[Len++] = ' '; Len+=Format_SignDec(Msg+Len, DecodeTurnRate()/3, 2, 1); Msg[Len++] = 'r'; Msg[Len++] = 'o'; Msg[Len++] = 't'; }
if(hasBaro()) if(hasBaro())
{ int32_t Alt = DecodeStdAltitude(); { int32_t Alt = DecodeStdAltitude();
@ -714,16 +717,16 @@ class OGN1_Packet // Packet structure for the OGN tracker
uint16_t getHeadingAngle(void) const uint16_t getHeadingAngle(void) const
{ return (uint16_t)Position.Heading<<6; } { return (uint16_t)Position.Heading<<6; }
void clrTurnRate(void) { Position.TurnRate=0x80; } void clrTurnRate(void) { Position.TurnRate=0x80; } // mark turn-rate as absent
bool hasTurnRate(void) const { return Position.TurnRate==0x80; } bool hasTurnRate(void) const { return Position.TurnRate==0x80; }
void EncodeTurnRate(int16_t Turn) // [0.1 deg/sec] void EncodeTurnRate(int16_t Turn) // [0.1 deg/sec]
{ Position.TurnRate = EncodeSR2V5(Turn); } { Position.TurnRate = EncodeSR2V5(Turn); }
int16_t DecodeTurnRate(void) const int16_t DecodeTurnRate(void) const
{ return DecodeSR2V5(Position.TurnRate); } { return DecodeSR2V5(Position.TurnRate); }
void clrClimbRate(void) { Position.ClimbRate=0x100; } void clrClimbRate(void) { Position.ClimbRate=0x100; } // mark climb rate as absent
bool hasClimbRate(void) const { return Position.ClimbRate==0x100; } bool hasClimbRate(void) const { return Position.ClimbRate==0x100; }
void EncodeClimbRate(int16_t Climb) void EncodeClimbRate(int16_t Climb)

10
main/relpos.h
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@ -236,6 +236,16 @@ class Acft_RelPos // 3-D relative position with speed and turn rate
Z += Climb; Z += Climb;
T += 2; } T += 2; }
template <class OGNx_Packet> // zero the position, read differentials from an OGN packet
void Start(OGNx_Packet &Packet)
{ T=0; X=0; Y=0; Z=0;
Speed = (Packet.DecodeSpeed()+2)/5; // [0.1m/s] => [0.5m/s]
Heading = Packet.getHeadingAngle(); // [360/0x10000deg]
Climb = Packet.DecodeClimbRate()/5; // [0.1m/s] => [0.5m/s]
Turn = ((int32_t)Packet.DecodeTurnRate()*1165+32)>>6; // [0.1deg/s] => [360/0x10000deg/s]
calcDir();
Error = (2*Packet.DecodeDOP()+22)/5; }
template <class OGNx_Packet> // read position from an OGN packet, use provided reference template <class OGNx_Packet> // read position from an OGN packet, use provided reference
int32_t Read(OGNx_Packet &Packet, uint8_t RefTime, int32_t RefLat, int32_t RefLon, int32_t RefAlt, uint16_t LatCos=3000, int32_t MaxDist=10000) int32_t Read(OGNx_Packet &Packet, uint8_t RefTime, int32_t RefLat, int32_t RefLon, int32_t RefAlt, uint16_t LatCos=3000, int32_t MaxDist=10000)
{ T = (int16_t)Packet.Position.Time-(int16_t)RefTime; { T = (int16_t)Packet.Position.Time-(int16_t)RefTime;