User Guide

Specification for Spektrum X-Bus Telemetry Sensors
Page 19 Rev E
UINT16 course; // BCD, 3.1
UINT8 HDOP; // BCD, format 1.1
UINT8 GPSflags; // see definitions below
} STRU_TELE_GPS_LOC;
typedef struct
{
UINT8 identifier; // Source device = 0x17
UINT8 sID; // Secondary ID
UINT16 speed; // BCD, knots, format 3.1
UINT32 UTC; // BCD, format HH:MM:SS.S, format 6.1
UINT8 numSats; // BCD, 0-99
UINT8 altitudeHigh; // BCD, meters, format 2.0 (High bits alt)
} STRU_TELE_GPS_STAT;
// GPS flags definitions:
#define GPS_INFO_FLAGS_IS_NORTH_BIT (0)
#define GPS_INFO_FLAGS_IS_NORTH (1 << GPS_INFO_FLAGS_IS_NORTH_BIT)
#define GPS_INFO_FLAGS_IS_EAST_BIT (1)
#define GPS_INFO_FLAGS_IS_EAST (1 << GPS_INFO_FLAGS_IS_EAST_BIT)
#define GPS_INFO_FLAGS_LONG_GREATER_99_BIT (2)
#define GPS_INFO_FLAGS_LONG_GREATER_99 (1 << GPS_INFO_FLAGS_LONG_GREATER_99_BIT)
#define GPS_INFO_FLAGS_GPS_FIX_VALID_BIT (3)
#define GPS_INFO_FLAGS_GPS_FIX_VALID (1 << GPS_INFO_FLAGS_GPS_FIX_VALID_BIT)
#define GPS_INFO_FLAGS_GPS_DATA_RECEIVED_BIT (4)
#define GPS_INFO_FLAGS_GPS_DATA_RECEIVED (1 << GPS_INFO_FLAGS_GPS_DATA_RECEIVED_BIT)
#define GPS_INFO_FLAGS_3D_FIX_BIT (5)
#define GPS_INFO_FLAGS_3D_FIX (1 << GPS_INFO_FLAGS_3D_FIX_BIT)
#define GPS_INFO_FLAGS_NEGATIVE_ALT_BIT (7)
#define GPS_INFO_FLAGS_NEGATIVE_ALT (1 << GPS_INFO_FLAGS_NEGATIVE_ALT_BIT)
//////////////////////////////////////////////////////////////////
//
// GYRO
//
//////////////////////////////////////////////////////////////////
//
typedef struct
{
UINT8 identifier; // Source device = 0x1A
UINT8 sID; // Secondary ID
INT16 gyroX; // Rotation rates of the body - Rate
// is about the X Axis which is
// defined out the nose of the
// vehicle.
INT16 gyroY; // Units are 0.1 deg/sec - Rate is
// about the Y Axis which is defined
// out the right wing of the vehicle.
INT16 gyroZ; // Rate is about the Z axis which is
// defined down from the vehicle.
INT16 maxGyroX; // Max rates (absolute value)
INT16 maxGyroY;
INT16 maxGyroZ;
} STRU_TELE_GYRO;
//////////////////////////////////////////////////////////////////
//
// ATTITUDE & MAG COMPASS
//
//////////////////////////////////////////////////////////////////
//
typedef struct
{
UINT8 identifier; // Source device = 0x1B
UINT8 sID; // Secondary ID
INT16 attRoll; // Attitude, 3 axes. Roll is a
// rotation about the X Axis of
// the vehicle using the RHR.
INT16 attPitch; // Units are 0.1 deg - Pitch is a
// rotation about the Y Axis of the
// vehicle using the RHR.