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100 lines
2.8 KiB
100 lines
2.8 KiB
/* |
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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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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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// MSP GPS driver |
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// |
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#include <AP_MSP/msp.h> |
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#include "AP_GPS_MSP.h" |
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#if HAL_MSP_GPS_ENABLED |
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AP_GPS_MSP::AP_GPS_MSP(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_MSP::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 msp message and sets |
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// corresponding gps data appropriately; |
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void AP_GPS_MSP::handle_msp(const MSP::msp_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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state.status = (AP_GPS::GPS_Status)pkt.fix_type; |
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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 = GPS_UNKNOWN_DOP; |
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state.have_vertical_velocity = true; |
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Vector3f vel; |
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vel.x = pkt.ned_vel_north * 0.01; |
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vel.y = pkt.ned_vel_east * 0.01; |
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vel.z = pkt.ned_vel_down * 0.01; |
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state.velocity = vel; |
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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 * 0.01; |
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state.vertical_accuracy = pkt.vertical_pos_accuracy * 0.01; |
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state.speed_accuracy = pkt.horizontal_vel_accuracy * 0.01; |
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if (pkt.true_yaw != 65535) { |
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state.gps_yaw = wrap_360(pkt.true_yaw*0.01); |
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state.have_gps_yaw = true; |
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} |
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state.last_gps_time_ms = AP_HAL::millis(); |
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new_data = pkt.fix_type>0; |
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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_MSP::get_lag(float &lag_sec) const |
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{ |
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// measured on Matek M8Q |
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lag_sec = 0.11; |
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return true; |
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} |
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#endif // HAL_MSP_GPS_ENABLED
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