fly/flightgear
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Fix a couple data packet decoding mistakes.

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curt 2007-02-20 03:13:01 +00:00
parent b8d3a41810
commit 15c28a9354
2 changed files with 4 additions and 4 deletions
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6
utils/GPSsmooth/UGear.cxx
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@ -94,7 +94,7 @@ void UGEARTrack::parse_msg( const int id, char *buf,
gpspacket->vn = sg_swap_double( (uint8_t *)buf, 24 ); gpspacket->vn = sg_swap_double( (uint8_t *)buf, 24 );
gpspacket->ve = sg_swap_double( (uint8_t *)buf, 32 ); gpspacket->ve = sg_swap_double( (uint8_t *)buf, 32 );
gpspacket->vd = sg_swap_double( (uint8_t *)buf, 40 ); gpspacket->vd = sg_swap_double( (uint8_t *)buf, 40 );
gpspacket->time = sg_swap_double( (uint8_t *)buf, 56 ); gpspacket->time = sg_swap_double( (uint8_t *)buf, 52 );
} else if ( id == IMU_PACKET ) { } else if ( id == IMU_PACKET ) {
*imupacket = *(struct imu *)buf; *imupacket = *(struct imu *)buf;
imupacket->p = sg_swap_double( (uint8_t *)buf, 0 ); imupacket->p = sg_swap_double( (uint8_t *)buf, 0 );
@ -128,7 +128,7 @@ void UGEARTrack::parse_msg( const int id, char *buf,
// printf("servo time = %.3f\n", servopacket->time); // printf("servo time = %.3f\n", servopacket->time);
} else if ( id == HEALTH_PACKET ) { } else if ( id == HEALTH_PACKET ) {
*healthpacket = *(struct health *)buf; *healthpacket = *(struct health *)buf;
healthpacket->time = sg_swap_double( (uint8_t *)buf, 12 ); healthpacket->time = sg_swap_double( (uint8_t *)buf, 16 );
} else { } else {
cout << "unknown id = " << id << endl; cout << "unknown id = " << id << endl;
} }
@ -175,7 +175,7 @@ bool UGEARTrack::load( const string &file ) {
gps_data.push_back( gpspacket ); gps_data.push_back( gpspacket );
gps_time = gpspacket.time; gps_time = gpspacket.time;
} else { } else {
cout << "oops gps back in time" << endl; cout << "oops gps back in time: " << gpspacket.time << " " << gps_time << endl;
} }
} else if ( id == IMU_PACKET ) { } else if ( id == IMU_PACKET ) {
if ( imupacket.time > imu_time ) { if ( imupacket.time > imu_time ) {

2
utils/GPSsmooth/UGear_main.cxx
View file

@ -707,7 +707,7 @@ int main( int argc, char **argv ) {
gps_time = gpspacket.time; gps_time = gpspacket.time;
current_time = gps_time; current_time = gps_time;
} else { } else {
cout << "oops gps back in time" << endl; cout << "oops gps back in time: " << gpspacket.time << " " << gps_time << endl;
} }
} else if ( id == IMU_PACKET ) { } else if ( id == IMU_PACKET ) {
if ( imupacket.time > imu_time ) { if ( imupacket.time > imu_time ) {