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27 lines
578 B
27 lines
578 B
function AP_send(gyro, attitude, accel, velocity, position, time) |
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global u |
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if isempty(u) |
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return |
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end |
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persistent past_time |
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if isempty(past_time) |
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past_time = -1; |
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end |
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if past_time == time |
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error('Send repeat time'); |
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end |
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past_time = time; |
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% build structure representing the JSON string to be sent |
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JSON.timestamp = time; |
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JSON.imu.gyro = gyro; |
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JSON.imu.accel_body = accel; |
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JSON.position = position; |
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JSON.attitude = attitude; |
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JSON.velocity = velocity; |
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% Report to AP |
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pnet(u,'printf',sprintf('\n%s\n',jsonencode(JSON))); |
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pnet(u,'writepacket'); |
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end |