altos: Write current flight state to GPS data from GPS drivers

[fw/altos] / src / drivers / ao_gps_ublox.c

diff --git a/src/drivers/ao_gps_ublox.c b/src/drivers/ao_gps_ublox.c
index 8676a670fd86a092bdaf5fcdd8d7b8220ab92ac3..6c42c1ba70a8c1fdbabc53817f09fe8a87be3ff3 100644 (file)
--- a/src/drivers/ao_gps_ublox.c
+++ b/src/drivers/ao_gps_ublox.c
@@ -600,6 +600,14 @@ static const uint8_t ublox_enable_nav[] = {
        UBLOX_NAV_TIMEUTC
 };
 
+void
+ao_gps_set_rate(uint8_t rate)
+{
+       uint8_t i;
+       for (i = 0; i < sizeof (ublox_enable_nav); i++)
+               ao_ublox_set_message_rate(UBLOX_NAV, ublox_enable_nav[i], rate);
+}
+
 void
 ao_gps(void) __reentrant
 {
@@ -616,8 +624,7 @@ ao_gps(void) __reentrant
                ao_ublox_set_message_rate(UBLOX_NAV, ublox_disable_nav[i], 0);
 
        /* Enable all of the messages we want */
-       for (i = 0; i < sizeof (ublox_enable_nav); i++)
-               ao_ublox_set_message_rate(UBLOX_NAV, ublox_enable_nav[i], 1);
+       ao_gps_set_rate(1);
 
        ao_ublox_set_navigation_settings((1 << UBLOX_CFG_NAV5_MASK_DYN) | (1 << UBLOX_CFG_NAV5_MASK_FIXMODE),
                                         UBLOX_CFG_NAV5_DYNMODEL_AIRBORNE_4G,
@@ -742,7 +749,9 @@ ao_gps(void) __reentrant
                                ao_gps_data.ground_speed = nav_velned.g_speed;
                                ao_gps_data.climb_rate = -nav_velned.vel_d;
                                ao_gps_data.course = nav_velned.heading / 200000;
-
+#if HAS_FLIGHT || HAS_TRACKER
+                               ao_gps_data.state = ao_flight_state;
+#endif
                                ao_gps_tracking_data.channels = 0;
 
                                struct ao_telemetry_satellite_info *dst = &ao_gps_tracking_data.sats[0];