- /* status */
- ans.test = x++; /* XXX */
-#if 0
- ans.mode = state_get_mode();
- ans.status = state_get_status();
-
- ans.left_cobroller_speed = imuboard.left_cobroller_speed;
- ans.right_cobroller_speed = imuboard.right_cobroller_speed;
-
- ans.cob_count = state_get_cob_count();
-#endif
+ /* gps */
+ IRQ_LOCK(irq_flags);
+ gps_get_pos(&gps_pos);
+ IRQ_UNLOCK(irq_flags);
+
+ ans.flags = 0;
+ if (gps_pos_valid(&gps_pos)) {
+ ans.flags |= IMUBOARD_STATUS_GPS_OK;
+ ans.latitude = gps_pos.latitude;
+ ans.longitude = gps_pos.longitude;
+ ans.altitude = gps_pos.altitude;
+ }