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Michal Fratczak 2020-04-15 17:34:03 +02:00
rodzic da013177f4
commit e619b5f5ab
1 zmienionych plików z 6 dodań i 9 usunięć
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tracker/code/main/main.cpp
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@ -16,8 +16,6 @@
#include "ublox/ublox_cmds.h"
#include "ublox/ublox.h"
#include "ds18b20/ds18b20.h"
#include "dynamics_t.h"
#include "ssdv_t.h"
#include "cli.h"
#include "GLOB.h"
@ -197,8 +195,8 @@ int main1(int argc, char** argv)
while(G_RUN) {
// std::this_thread::sleep_for( std::chrono::seconds(5) );
const vector<char> ublox_data = uBLOX_read_msg(uBlox_i2c_fd);
const string nmea_str( NMEA_get_last_msg(ublox_data.data(), ublox_data.size()) );
cout<<nmea_str<<C_OFF<<endl;
const string nmea_str = NMEA_get_last_msg(ublox_data.data(), ublox_data.size());
cout<<nmea_str<<endl;
if( !NMEA_msg_checksum_ok(nmea_str) ) {
cerr<<C_RED<<"NMEA Checksum Fail: "<<nmea_str<<C_OFF<<endl;
continue;
@ -213,7 +211,6 @@ int main1(int argc, char** argv)
if(gps_fix_valid) {
GLOB::get().nmea_set(current_nmea);
GLOB::get().gps_fix_now();
// GLOB::get().dynamics_add("alt", dynamics_t::utc2tp(current_nmea.utc), current_nmea.alt);
GLOB::get().dynamics_add("alt", std::chrono::steady_clock::now(), current_nmea.alt);
}
else { // REUSE LAT,LON,ALT FROM LAST VALID SENTENCE
@ -267,7 +264,7 @@ int main1(int argc, char** argv)
});
// READ SENSORS, CONSTRUCT TELEMETRY MESSAGE, RF SEND TEMEMETRY AND IMAGE
// READ SENSORS, CONSTRUCT TELEMETRY MESSAGE, RF SEND TELEMETRY AND IMAGE
//
ssdv_t ssdv_tiles;
int msg_id = 0;
@ -275,9 +272,9 @@ int main1(int argc, char** argv)
{
// print dynamics
cout<<C_MAGENTA<<"alt "<<G.dynamics_get("alt").dVdT()<<C_OFF<<endl;
cout<<C_MAGENTA<<"temperature "<<G.dynamics_get("temperature").dVdT()<<C_OFF<<endl;
cout<<C_MAGENTA<<"temp_int "<<G.dynamics_get("temp_int").dVdT()<<C_OFF<<endl;
// telemetry
// telemetry. G.cli.msg_num sentences before SSDV
//
for(int __mi=0; __mi<G.cli.msg_num; ++__mi)
{
@ -296,7 +293,7 @@ int main1(int argc, char** argv)
tlmtr_stream<<","<<valid_nmea.lat<<","<<valid_nmea.lon<<","<<valid_nmea.alt;
tlmtr_stream<<","<<valid_nmea.sats<<","<<GLOB::get().gps_fix_age();
// Sensors:
tlmtr_stream<<","<<setprecision(1)<<fixed<<G.dynamics_get("temperature").val();
tlmtr_stream<<","<<setprecision(1)<<fixed<<G.dynamics_get("temp_int").val();
// CRC:
const string msg_with_crc = string("\0",1) + "$$$" + tlmtr_stream.str() + '*' + CRC(tlmtr_stream.str());
cout<<C_GREEN<<msg_with_crc<<C_OFF<<endl;