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66 lines
2.2 KiB
66 lines
2.2 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/// @file GPS_Glitch.h |
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/// @brief GPS Glitch protection |
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#ifndef __GPS_GLITCH_H__ |
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#define __GPS_GLITCH_H__ |
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#include <AP_HAL.h> |
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#include <inttypes.h> |
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#include <AP_Progmem.h> |
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#include <AP_Math.h> |
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#include <AP_GPS.h> |
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#define GPS_GLITCH_MAX_ACCEL_CMSS 1000.0f // vehicle can accelerate at up to 10m/s/s in any direction |
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#define GPS_GLITCH_MIN_RADIUS_CM 1000.0f // gps movement within 10m of current position are always ok |
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/// @class GPS_Glitch |
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/// @brief GPS Glitch protection class |
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class GPS_Glitch |
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{ |
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public: |
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// constructor |
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GPS_Glitch(GPS*& gps); |
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// check_position - checks latest gps position against last know position, velocity and maximum acceleration and updates glitching flag |
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void check_position(); |
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// enable - enable or disable gps sanity checking |
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void enable(bool true_or_false) { _enabled = true_or_false; } |
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// enabled - returns true if glitch detection is enabled |
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bool enabled() const { return _enabled; } |
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// glitching - returns true if we are experiencing a glitch |
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bool glitching() const { return _flags.glitching; } |
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// last_good_update - returns system time of the last good update |
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uint32_t last_good_update() const { return _last_good_update; } |
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// class level parameters |
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static const struct AP_Param::GroupInfo var_info[]; |
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private: |
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/// external dependencies |
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GPS*& _gps; // pointer to gps |
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/// structure for holding flags |
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struct GPS_Glitch_flags { |
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uint8_t initialised : 1; // 1 if we have received at least one good gps lock |
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uint8_t glitching : 1; // 1 if we are experiencing a gps glitch |
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} _flags; |
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// parameters |
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AP_Int8 _enabled; // top level enable/disable control |
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// gps sanity check variables |
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uint32_t _last_good_update; // system time of last gps update that passed checks |
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int32_t _last_good_lat; // last good latitude reported by the gps |
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int32_t _last_good_lon; // last good longitude reported by the gps |
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Vector2f _last_good_vel; // last good velocity reported by the gps in cm/s in lat and lon directions |
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}; |
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#endif // __GPS_H__
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