[ARDrone] Fix GPS orientation
Add condition South and East for négative latitude/longitude.
This commit is contained in:
Florian Taillard
parent
3b2823fef9
commit
46292cfe8c
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@ -64,8 +64,10 @@ uint8_t *packet = NULL ; // Packet to send
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uint_fast16_t packet_size ; // Packet size
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// Shared variables for OwlSIG (Geo Information System)
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float share_x, share_y, share_z;
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double share_x, share_y, share_z;
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double share_lat, share_lon, share_alt=0;
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double share_lat_cons=-999.0, share_lon_cons=-999.00, share_alt_cons=-999.0;
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double share_x_cons=-999.0, share_y_cons=-999.00, share_z_cons=-999.0, share_t_cons=-999.0;
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int main(int argc, char *argv[])
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{
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@ -84,7 +86,7 @@ int main(int argc, char *argv[])
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{
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if (options.listening_port > 0)
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receive_position() ;
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else usleep(1000);
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else usleep(1000);
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}
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(void) close(socksendfd) ;
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(void) close(sockreceivefd) ;
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@ -106,109 +108,119 @@ void parse_command_line(int argc, char **argv)
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#endif // DEBUG
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}
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void traficGPS(int gps) {
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void traficGPS(int gps)
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{
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int offset=0, c=1, i=0, l;
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char buffer[4096], chtime[1024];
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char *utc, *latitude, *longitude, *chv, *cmd, *ch;
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float vitesse;
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do {
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c=read(gps, buffer, 4096);
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printf("lecture intiale %d\n",c);
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} while (c>99);
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do {
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c=read(gps, buffer+offset, 1);
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offset=offset+c;
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} while (buffer[offset-c]!='$');
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do
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{
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c=read(gps, buffer, 4096);
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printf("lecture intiale %d\n",c);
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}
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while (c>99);
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do
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{
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c=read(gps, buffer+offset, 1);
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offset=offset+c;
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}
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while (buffer[offset-c]!='$');
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//buffer[offset]='\0';
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//printf("phrase x%sx\n",buffer);
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// Debut de phrase GPS sans le dollar
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while (1) {
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i=0;
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offset=0;
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do {
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c=read(gps, buffer+offset, 1);
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offset=offset+c;
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} while (buffer[offset-c]!='$');
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do
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{
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c=read(gps, buffer+offset, 1);
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offset=offset+c;
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}
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while (buffer[offset-c]!='$');
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//buffer[offset]='\0';
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//printf("phrase s x%sx\n",buffer);
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if (strncmp(buffer+i,"GPRMC",5)==0)
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{
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char data[15][20];
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int offset_line, length, ct_string, y;
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int z;
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{
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char data[15][20];
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int offset_line, length, ct_string, y;
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int z;
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ct_string = offset_line = y = z = 0 ;
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length = strlen(buffer+i) ;
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memset(data,0,200);
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while(y<=length)
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{
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if((buffer)[y+i]==EOL && z==0) z=1;
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else if((buffer)[y+i]==EOL && z==1)
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{
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length=y-1;
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break;
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}
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y++;
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}
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printf("\nTaille finale : %d\n", length);
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ct_string = offset_line = y = z = 0 ;
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length = strlen(buffer+i) ;
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memset(data,0,200);
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while(y<=length)
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{
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if((buffer)[y+i]==EOL && z==0) z=1;
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else if((buffer)[y+i]==EOL && z==1)
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{
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length=y-1;
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break;
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}
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y++;
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}
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printf("\nTaille finale : %d\n", length);
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y=0;
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while(y<=length)
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{
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if ((buffer)[y+i]==SEPARATOR)
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{
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y=0;
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while(y<=length)
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{
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if ((buffer)[y+i]==SEPARATOR)
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{
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if((y-offset_line)==0)
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memcpy(data[ct_string], "\0", 1);
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if((y-offset_line)==0)
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memcpy(data[ct_string], "\0", 1);
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else
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{
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memcpy(data[ct_string], buffer+i+offset_line, y-offset_line);
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data[ct_string][y-offset_line]=0;
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}
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ct_string++;
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offset_line=y+1;
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}
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y++;
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}
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else
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{
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memcpy(data[ct_string], buffer+i+offset_line, y-offset_line);
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data[ct_string][y-offset_line]=0;
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}
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ct_string++;
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offset_line=y+1;
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}
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y++;
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}
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if(!(ct_string==0 || offset_line==0))
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memcpy(data[ct_string], buffer+i+offset_line, length-offset_line);
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data[ct_string][length-offset_line]=0;
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if(!(ct_string==0 || offset_line==0))
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memcpy(data[ct_string], buffer+i+offset_line, length-offset_line);
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data[ct_string][length-offset_line]=0;
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datagps.time = atof(data[1]);
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datagps.state = data[2][0];
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datagps.latitude = atof(strndup(data[3],2))+atof(strndup(data[3]+2,strlen(data[3])-2))/60.0 ;
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datagps.orilat = data[4][0];
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datagps.longitude = atof(strndup(data[5],3))+atof(strndup(data[5]+3,strlen(data[5])-3))/60.0 ;
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datagps.orilon = data[6][0];
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datagps.speed = atof(data[7])*1.852;
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datagps.cap = atof(data[8]);
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datagps.date = atoi(data[9]);
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datagps.decmag = atof(data[10]);
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datagps.time = atof(data[1]);
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datagps.state = data[2][0];
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datagps.latitude = atof(strndup(data[3],2))+atof(strndup(data[3]+2,strlen(data[3])-2))/60.0 ;
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datagps.orilat = data[4][0];
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datagps.longitude = atof(strndup(data[5],3))+atof(strndup(data[5]+3,strlen(data[5])-3))/60.0 ;
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datagps.orilon = data[6][0];
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datagps.speed = atof(data[7])*1.852;
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datagps.cap = atof(data[8]);
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datagps.date = atoi(data[9]);
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datagps.decmag = atof(data[10]);
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share_lat=datagps.latitude;
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share_lon=datagps.longitude;
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printf("Time : %f | State : %c | Latitude : %f%c | Longitude %f%c | Speed : %f km/h | Cap : %f° | Date : %d | DecMagn : %f \n",datagps.time, datagps.state, datagps.latitude, datagps.orilat, datagps.longitude, datagps.orilon, datagps.speed, datagps.cap, datagps.date, datagps.decmag);
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if (datagps.orilat=='S') datagps.latitude=-datagps.latitude;
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if (datagps.orilon=='W') datagps.longitude=-datagps.longitude;
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share_lat=datagps.latitude;
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share_lon=datagps.longitude;
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printf("lat %s lon %s\n",data[3], data[5]);
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printf("Time : %f | State : %c | Latitude : %.10f%c | Longitude %.10f%c | Speed : %f km/h | Cap : %f° | Date : %d | DecMagn : %f maps %.10f %.10f\n",datagps.time, datagps.state, datagps.latitude, datagps.orilat, datagps.longitude, datagps.orilon, datagps.speed, datagps.cap, datagps.date, datagps.decmag, share_lat, share_lon);
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/* printf("Taille : %d | Message : %s\n",strlen(buffer+i),buffer+i);
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cmd=strtok(buffer+i,",");
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utc=strtok(NULL,",");
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ch=strtok(NULL,",");
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latitude=strtok(NULL,",");
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ch=strtok(NULL,",");
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longitude=strtok(NULL,",");
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ch=strtok(NULL,",");
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chv=strtok(NULL,",");
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//printf("h %s lt %s lg %s v %s\n",utc, latitude, longitude,chv);
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vitesse=atof(chv)*1.852;
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share_lat=atof(strndup(latitude,2))+atof(strndup(latitude+2,strlen(latitude)-2))/60.0;
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share_lon=atof(strndup(longitude,3))+atof(strndup(longitude+3,strlen(longitude)-3))/60.0;
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printf("h %s lt %s lg %s v %f km/h share lat lon %f %f\n",utc, latitude, longitude,vitesse, share_lat, share_lon);
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*/
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}
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/* printf("Taille : %d | Message : %s\n",strlen(buffer+i),buffer+i);
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cmd=strtok(buffer+i,",");
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utc=strtok(NULL,",");
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ch=strtok(NULL,",");
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latitude=strtok(NULL,",");
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ch=strtok(NULL,",");
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longitude=strtok(NULL,",");
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ch=strtok(NULL,",");
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chv=strtok(NULL,",");
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//printf("h %s lt %s lg %s v %s\n",utc, latitude, longitude,chv);
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vitesse=atof(chv)*1.852;
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share_lat=atof(strndup(latitude,2))+atof(strndup(latitude+2,strlen(latitude)-2))/60.0;
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share_lon=atof(strndup(longitude,3))+atof(strndup(longitude+3,strlen(longitude)-3))/60.0;
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printf("h %s lt %s lg %s v %f km/h share lat lon %f %f\n",utc, latitude, longitude,vitesse, share_lat, share_lon);
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*/
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}
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}
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}
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@ -230,6 +242,7 @@ void* thread_send(void* data)
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{
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make_packet() ;
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send_request() ;
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sleep(1) ;
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}
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return NULL;
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}
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@ -237,109 +250,79 @@ void* thread_send(void* data)
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// TCP Server OwlSIG
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void* thread_control(void* data)
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{
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<<<<<<< HEAD
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int sockfd, newsockfd, portno=8080;
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socklen_t clilen;
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char request[1024], response[1204];
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char request[2048], response[2048], *c;
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struct sockaddr_in serv_addr, cli_addr;
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int n;
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int n,i=4;
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char *cmd, *sx, *sy, *sz, *st;
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sockfd = socket(AF_INET, SOCK_STREAM, 0);
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if (sockfd < 0)
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error("ERROR opening socket TCP");
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perror("ERROR opening socket TCP");
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bzero((char *) &serv_addr, sizeof(serv_addr));
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serv_addr.sin_family = AF_INET;
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serv_addr.sin_addr.s_addr = INADDR_ANY;
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serv_addr.sin_port = htons(portno);
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if (bind(sockfd, (struct sockaddr *) &serv_addr, sizeof(serv_addr)) < 0)
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error("ERROR on binding");
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perror("ERROR on binding");
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listen(sockfd,1);
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clilen = sizeof(cli_addr);
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while (1)
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{
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newsockfd = accept(sockfd, (struct sockaddr *) &cli_addr, &clilen);
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if (newsockfd < 0)
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error("ERROR on accept");
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bzero(request,1024);
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while ( strcmp(request,"end")!=0) {
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n = read(newsockfd,request,1024);
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if (n < 0) perror("ERROR reading from socket");
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printf("%s", request);
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// Add command processing
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sprintf(response,"Position;OK;1.2;3.4;0.0");
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//sprintf(response,"Position;OK;%f;%f;%f",share_x, share_y, share_z);
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n = write(newsockfd,response,strlen(response));
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if (n < 0) perror("ERROR writing to socket");
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}
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close(newsockfd);
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close(sockfd);
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memset(request,0,1500);
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cmd=malloc(256);
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strcpy(cmd,"");
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while ( strcmp(cmd,"end")!=0) {
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newsockfd = accept(sockfd, (struct sockaddr *) &cli_addr, &clilen);
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if (newsockfd < 0)
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perror("ERROR on accept");
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// while ( strcmp(request,"end")!=0) {
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n = read(newsockfd,request,1500);
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printf("\ntaille %d\n", n);
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fflush(NULL);
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if (n < 0) perror("ERROR reading from socket");
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printf("%s", request);
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// Add command processing
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c=strtok(request,"=");
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printf("val 1 %s\n",c);
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c=strtok(NULL,"=");
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printf("val 2 %s\n",c);
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cmd=strtok(c,";");
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printf("val 3 %s\n",cmd);
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sx=strtok(NULL,";");
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sy=strtok(NULL,";");
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sz=strtok(NULL,";");
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st=strtok(NULL,";");
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strcpy(response,"HTTP/1.1 200 OK\nDate: Mon, 18 Apr 2011 19:51:52 GMT\nServer: Apache/ProXad [Aug 5 2010 16:17:11]\nAccess-Control-Allow-Origin: *\nX-Powered-By: PHP/4.4.3-dev\nConnection: close\nContent-Type: text/html\n\n");
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if (strcmp(cmd, "ReadPosition")==0)
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sprintf(response,"%sPosition;OK;%d.0;5.0;6.1\n",response,i++);
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else if (strcmp(cmd, "ReadGeoPosition")==0)
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sprintf(response,"%sGeoPosition;OK;%f;%f;%f\n",response,share_lat,share_lon,share_alt);
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else if (strcmp(cmd, "SendGeoSetpoint")==0) {
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share_lat_cons=atof(sx);
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share_lon_cons=atof(sy);
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share_alt_cons=atof(sz);
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share_t_cons=atof(st);
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sprintf(response,"%sGeoSetpoint;OK;%.15f;%.15f;%f;%f\n",response,share_lat_cons,share_lon_cons,share_alt_cons,share_t_cons);
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}
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else if (strcmp(cmd, "SendSetpoint")==0) {
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share_x_cons=atof(sx);
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share_y_cons=atof(sy);
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share_z_cons=atof(sz);
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share_t_cons=atof(st);
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sprintf(response,"%sSetpoint;OK;%f;%f;%f;%f\n",response,share_x_cons,share_y_cons,share_z_cons,share_t_cons);
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}
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else
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strcat(response,"Not understand\n");
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n = write(newsockfd,response,strlen(response));
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if (n < 0) perror("ERROR writing to socket");
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printf ("Write : %d %d\n", n, (int) strlen(response));
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close(newsockfd);
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// }
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}
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close(sockfd);
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return NULL;
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=======
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int sockfd, newsockfd, portno=8080;
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socklen_t clilen;
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char request[2048], response[2048], *c;
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struct sockaddr_in serv_addr, cli_addr;
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int n,i=4;
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char *cmd, *sx, *sy, *sz, *st;
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sockfd = socket(AF_INET, SOCK_STREAM, 0);
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if (sockfd < 0)
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perror("ERROR opening socket TCP");
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bzero((char *) &serv_addr, sizeof(serv_addr));
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serv_addr.sin_family = AF_INET;
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serv_addr.sin_addr.s_addr = INADDR_ANY;
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serv_addr.sin_port = htons(portno);
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if (bind(sockfd, (struct sockaddr *) &serv_addr, sizeof(serv_addr)) < 0)
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perror("ERROR on binding");
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listen(sockfd,1);
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clilen = sizeof(cli_addr);
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memset(request,0,1500);
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cmd=malloc(256);
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strcpy(cmd,"");
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while ( strcmp(cmd,"end")!=0) {
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newsockfd = accept(sockfd, (struct sockaddr *) &cli_addr, &clilen);
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if (newsockfd < 0)
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perror("ERROR on accept");
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// while ( strcmp(request,"end")!=0) {
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n = read(newsockfd,request,1500);
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printf("\ntaille %d\n", n);
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fflush(NULL);
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if (n < 0) perror("ERROR reading from socket");
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printf("%s", request);
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// Add command processing
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c=strtok(request,"=");
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printf("val 1 %s\n",c);
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c=strtok(NULL,"=");
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printf("val 2 %s\n",c);
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cmd=strtok(c,";");
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printf("val 3 %s\n",cmd);
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sx=strtok(NULL,";");
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sy=strtok(NULL,";");
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sz=strtok(NULL,";");
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st=strtok(NULL,";");
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strcpy(response,"HTTP/1.1 200 OK\nDate: Mon, 18 Apr 2011 19:51:52 GMT\nServer: Apache/ProXad [Aug 5 2010 16:17:11]\nAccess-Control-Allow-Origin: *\nX-Powered-By: PHP/4.4.3-dev\nConnection: close\nContent-Type: text/html\n\n");
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if (strcmp(cmd, "ReadPosition")==0)
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sprintf(response,"%sPosition;OK;%d.0;5.0;6.1\n",response,i++);
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else if (strcmp(cmd, "ReadGeoPosition")==0)
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sprintf(response,"%sGeoPosition;OK;%f;%f;%f\n",response,share_lat,share_lon,share_alt);
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else if (strcmp(cmd, "SendGeoSetpoint")==0)
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sprintf(response,"%sGeoSetpoint;OK;%d.0;5.0;6.1;0.0\n",response,i++);
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else if (strcmp(cmd, "SendSetpoint")==0)
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sprintf(response,"%sSetpoint;OK;%s;%s;%s;%s\n",response,sx,sy,sz,st);
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else
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strcat(response,"Not understand\n");
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n = write(newsockfd,response,strlen(response));
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if (n < 0) perror("ERROR writing to socket");
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printf ("Write : %d %d\n", n, (int) strlen(response));
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close(newsockfd);
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// }
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||||
}
|
||||
close(sockfd);
|
||||
return NULL;
|
||||
>>>>>>> ea33a1a... [ARDrone] Add support GPS NMEA
|
||||
}
|
||||
|
||||
void parse_main_options(int argc, char **argv)
|
||||
|
|
|
|||
Loading…
Reference in New Issue