Merge pull request #22 from larus-breeze/sha256

Sha256

Author: MaxBaex

NAV_Algorithms/navigator.cpp

@@ -82,8 +82,9 @@ void navigator_t::update_GNSS_data( const coordinates_t &coordinates)
 }
 
 // to be called at 10 Hz
-void navigator_t::update_at_10Hz ()
+bool navigator_t::update_at_10Hz ()
 {
+  bool landing_detected=false;
   atmosphere.feed_QFF_density_metering(
 	air_pressure_resampler_100Hz_10Hz.get_output(),
 	flight_observer.get_filtered_GNSS_altitude());
@@ -98,7 +99,11 @@ void navigator_t::update_at_10Hz ()
 
   airborne_detector.report_to_be_airborne( abs( flight_observer.get_speed_compensation_GNSS()) > AIRBORNE_TRIGGER_SPEED);
   if( airborne_detector.detect_just_landed())
-    ahrs.write_calibration_into_EEPROM();
+    {
+      ahrs.write_calibration_into_EEPROM();
+      landing_detected = true;
+    }
+  return landing_detected;
 }
 
 //! copy all navigator data into output_data structure

NAV_Algorithms/navigator.h

@@ -159,8 +159,9 @@ class navigator_t
      *
      * to be called @ 10 Hz
      * calculate wind data and vario average for "vario integrator"
+     * @return true if a landing has just been detected
      */
-  void update_at_10Hz();
+  bool update_at_10Hz();
 
     /**
        * @brief update on new navigation data from GNSS

NAV_Algorithms/organizer.h

@@ -91,16 +91,17 @@ class organizer_t
     navigator.update_pitot ( (output_data.m.pitot_pressure - pitot_offset) * pitot_span);
   }
 
-  void update_every_100ms( output_data_t & output_data)
+  bool update_every_100ms( output_data_t & output_data)
   {
-    navigator.update_at_10Hz ();
+    bool landing_detected = navigator.update_at_10Hz ();
     navigator.feed_QFF_density_metering( output_data.m.static_pressure - QNH_offset, -output_data.c.position[DOWN]);
 
     if( ++magnetic_induction_update_counter > 36000) // every hour
       {
 	update_magnetic_induction_data( output_data.c.latitude, output_data.c.longitude);
 	magnetic_induction_update_counter=0;
       }
+    return landing_detected;
   }
 
   void set_attitude ( float roll, float nick, float present_heading)

NAV_Algorithms/persistent_data.cpp

@@ -53,6 +53,7 @@ ROM persistent_data_t PERSISTENT_DATA[]=
 	{WIND_TC,	"Wind_TC",		false, 5.0f, 0}, 	//! Wind fast time constant unsigned s / ( 100.0f / 65536 )
 	{MEAN_WIND_TC,	"Mean_Wind_TC",		false, 30.0f, 0},	//! Wind slow time constant unsigned s / ( 100.0f / 65536 )
 	{VETF,		"VrtclEnrgTuning",	false, 1.0f, 0},	//! Vertical Energy tuning factor s / ( 1.0f / 65536 )
+	{HORIZON,	"Horizon_active",	false, 1.0f, 0},	//! Horizon output is available
 
 	{GNSS_CONFIGURATION, "GNSS_CONFIG",	false, 1.0f, 0},	//! type of GNSS system
 	{ANT_BASELENGTH, "ANT_BASELEN",		false, 1.0f, 0},	//! Slave DGNSS antenna baselength / mm
@@ -98,6 +99,7 @@ bool EEPROM_convert( EEPROM_PARAMETER_ID id, EEPROM_data_t & EEPROM_value, float
     case BOARD_ID:
     case GNSS_CONFIGURATION:
     case MAG_AUTO_CALIB:
+    case HORIZON:
       if( read)
 	value = (float)(EEPROM_value.u16);
       else

NAV_Algorithms/persistent_data.h

@@ -69,6 +69,7 @@ enum EEPROM_PARAMETER_ID
   WIND_TC,
   MEAN_WIND_TC,
   VETF, // VERTICAL_ENERGY_TUNING_FACTOR
+  HORIZON,
 
   GNSS_CONFIGURATION=40,
   ANT_BASELENGTH,

Output_Formatter/CAN_output.cpp

@@ -50,25 +50,29 @@ enum CAN_ID_SENSOR
   c_CID_KSB_Vdd         = 0x112,    //!< unit16_t as voltage * 10
 };
 
-void CAN_output ( const output_data_t &x)
+void CAN_output ( const output_data_t &x, bool horizon_activated)
 {
   CANpacket p;
 
-#if  HORIZON_DATA_SECRET == 1
-  p.id=c_CAN_Id_EulerAngles;		// 0x101
-  p.dlc=6;
-  p.data_sh[0] = ZERO;
-  p.data_sh[1] = ZERO;
-  p.data_sh[2] = (int16_t)(round(x.euler.y * 1000.0f));
-  CAN_send(p, 1);
-#else
-  p.id=c_CAN_Id_EulerAngles;		// 0x101
-  p.dlc=6;
-  p.data_sh[0] = (int16_t)(round(x.euler.r * 1000.0f)); 	// unit = 1/1000 RAD
-  p.data_sh[1] = (int16_t)(round(x.euler.n * 1000.0f));
-  p.data_sh[2] = (int16_t)(round(x.euler.y * 1000.0f));
-  CAN_send(p, 1);
-#endif
+  if( horizon_activated)
+    {
+      p.id=c_CAN_Id_EulerAngles;		// 0x101
+      p.dlc=6;
+      p.data_sh[0] = (int16_t)(round(x.euler.r * 1000.0f)); 	// unit = 1/1000 RAD
+      p.data_sh[1] = (int16_t)(round(x.euler.n * 1000.0f));
+      p.data_sh[2] = (int16_t)(round(x.euler.y * 1000.0f));
+      CAN_send(p, 1);
+    }
+  else
+    {
+      p.id=c_CAN_Id_EulerAngles;		// 0x101
+      p.dlc=6;
+      p.data_sh[0] = ZERO;
+      p.data_sh[1] = ZERO;
+      p.data_sh[2] = (int16_t)(round(x.euler.y * 1000.0f));
+      CAN_send(p, 1);
+    }
+
   p.id=c_CAN_Id_Airspeed;		// 0x102
   p.dlc=4;
   p.data_sh[0] = (int16_t)(round(x.TAS * 3.6f)); 		// m/s -> km/h

Output_Formatter/CAN_output.h

@@ -27,6 +27,6 @@
 
 #include "data_structures.h"
 
-void CAN_output ( const output_data_t &);
+void CAN_output ( const output_data_t &x, bool horizon_activated);
 
 #endif /* SRC_CAN_OUTPUT_H_ */