send rtk status

Author: RobertJN64

lib/trajectory_following/FlightCommands.h

@@ -52,6 +52,7 @@ struct flight_packet_t {
   bool flight_armed;
   float thrust_perc;
   float diffy_perc;
+  int rtk_status;
 };
 
 namespace FlightCommands {

lib/trajectory_following/TrajectoryFollower.cpp

@@ -200,6 +200,7 @@ void follow_trajectory() {
         fp.flight_armed = flight_armed;
         fp.thrust_perc = thrust_perc;
         fp.diffy_perc = diffy_perc;
+        fp.rtk_status = (GPS::ubx.pvt_solution.data->flags >> 6) & 0b11;
 
         FlightCommands::send_telemetry(fp);
       }

platformio.ini

@@ -13,7 +13,7 @@ platform = ststm32
 board = astra_fc_v1
 framework = arduino
 
-monitor_speed = 115200
+monitor_speed = 57600
 
  ; Note - this is here to point openocd at the correct board file
 upload_command = openocd -f "${PROJECT_DIR}/boards/astra_fc_v1.cfg" -c "program {$SOURCE} verify reset exit"