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[Paparazzi-devel] patch: adding gps_nmea and target=linux

From: Marcus Wolschon
Subject: [Paparazzi-devel] patch: adding gps_nmea and target=linux
Date: Sat, 26 Jan 2008 16:27:10 +0100

Hello everyone,

I finished the first half of the new
paparazzi-as-usermode-process target.
The tcp-connection to gpsd works and
telemetry can be sent to the ground-station
using udp.
The upload from the ground-station is still
missing as is the device-specific
servo-code. ADC for a gpsstix-module is
nearly done and I need to wait for the real
hardware to test it.
SpeedEvil: What do you want to use for
infrared and servo-control in your Tincan-

I also added a gps_nmea.c  and it seems to work fine.
I used it with the nmea-log of a long autobahn-journey
in gpsd to test it. (You may need to remove a lot of
printf-statements to use it on an arm7. ;) )

I noticed a few things:

The "plane" is still stuck in "while !GpsFixValid()"
even as it has a good 3d-fix and GpsFixValid() returns

The GCS does not allow zooming out very far.
Should there ever be jets or other very fast
drones you can loose them within seconds.

In sw/lib/ocaml/  I had the change  x > 1e6 into x > 1e7

 fun { utm_zone = f; utm_x = x; utm_y = y } ->
   if x < 0. || x > 1e7 || y < -10e6 || y > 10e6 || f < 0 || f > 60 then
     invalid_arg (Printf.sprintf "Latlong.of_utm x=%f (0..1e6) y=%f (-10e6..10e6) f=%i (0..60)" x y f);

I had to add an empty file "sw/airborne/baro_MS5534A.h"
because for some strange reason this keeps poping up
in the dependencies.

..have fun!

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