Andrew Tridgell
4 years ago
committed by
Peter Barker
5 changed files with 175 additions and 3 deletions
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/*
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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|
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/ |
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//
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// ExternalAHRS GPS driver
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//
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#include <AP_ExternalAHRS/AP_ExternalAHRS.h> |
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#include "AP_GPS_ExternalAHRS.h" |
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#if HAL_EXTERNAL_AHRS_ENABLED |
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AP_GPS_ExternalAHRS::AP_GPS_ExternalAHRS(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port) : |
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AP_GPS_Backend(_gps, _state, _port) |
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{ |
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} |
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// Reading does nothing in this class; we simply return whether or not
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// the latest reading has been consumed. By calling this function we assume
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// the caller is consuming the new data;
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bool AP_GPS_ExternalAHRS::read(void) |
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{ |
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if (new_data) { |
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new_data = false; |
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return true; |
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} |
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return false; |
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} |
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// handles an incoming ExternalAHRS message and sets
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// corresponding gps data appropriately;
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void AP_GPS_ExternalAHRS::handle_external(const AP_ExternalAHRS::gps_data_message_t &pkt) |
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{ |
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check_new_itow(pkt.ms_tow, sizeof(pkt)); |
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state.time_week = pkt.gps_week; |
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state.time_week_ms = pkt.ms_tow; |
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if (pkt.fix_type == 0) { |
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state.status = AP_GPS::NO_FIX; |
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} else { |
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state.status = (AP_GPS::GPS_Status)pkt.fix_type; |
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} |
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state.num_sats = pkt.satellites_in_view; |
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Location loc = {}; |
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loc.lat = pkt.latitude; |
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loc.lng = pkt.longitude; |
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loc.alt = pkt.msl_altitude; |
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state.location = loc; |
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state.hdop = pkt.hdop; |
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state.vdop = pkt.vdop; |
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state.have_vertical_velocity = true; |
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state.velocity.x = pkt.ned_vel_north; |
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state.velocity.y = pkt.ned_vel_east; |
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state.velocity.z = pkt.ned_vel_down; |
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state.ground_course = wrap_360(degrees(atan2f(state.velocity.y, state.velocity.x))); |
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state.ground_speed = norm(state.velocity.y, state.velocity.x); |
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state.have_speed_accuracy = true; |
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state.have_horizontal_accuracy = true; |
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state.have_vertical_accuracy = true; |
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state.have_vertical_velocity = true; |
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state.horizontal_accuracy = pkt.horizontal_pos_accuracy; |
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state.vertical_accuracy = pkt.vertical_pos_accuracy; |
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state.speed_accuracy = pkt.horizontal_vel_accuracy; |
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state.last_gps_time_ms = AP_HAL::millis(); |
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new_data = true; |
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} |
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/*
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return velocity lag in seconds |
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*/ |
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bool AP_GPS_ExternalAHRS::get_lag(float &lag_sec) const |
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{ |
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// fixed assumed lag
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lag_sec = 0.11; |
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return true; |
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} |
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#endif // HAL_EXTERNAL_AHRS_ENABLED
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@ -0,0 +1,46 @@
@@ -0,0 +1,46 @@
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/*
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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|
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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|
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/ |
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//
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// ExternalAHRS GPS driver which accepts gps position data from an external AHRS unit
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//
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#pragma once |
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#include <AP_Common/AP_Common.h> |
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#include <AP_HAL/AP_HAL.h> |
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#include "AP_GPS.h" |
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#include "GPS_Backend.h" |
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#if HAL_EXTERNAL_AHRS_ENABLED |
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class AP_GPS_ExternalAHRS : public AP_GPS_Backend |
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{ |
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public: |
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AP_GPS_ExternalAHRS(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port); |
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bool read() override; |
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void handle_external(const AP_ExternalAHRS::gps_data_message_t &pkt) override; |
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const char *name() const override { return "ExternalAHRS"; } |
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bool get_lag(float &lag_sec) const override; |
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private: |
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bool new_data; |
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}; |
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#endif // HAL_EXTERNAL_AHRS_ENABLED
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