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58 lines
2.0 KiB
58 lines
2.0 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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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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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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// Hardware in the loop gps class. |
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// Code by James Goppert |
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// |
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// GPS configuration : Custom protocol per "DIYDrones Custom Binary Sentence Specification V1.1" |
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// |
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#include <AP_HAL.h> |
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#include "AP_GPS_HIL.h" |
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// Public Methods ////////////////////////////////////////////////////////////// |
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void AP_GPS_HIL::init(AP_HAL::UARTDriver *s, enum GPS_Engine_Setting nav_setting) |
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{ |
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_port = s; |
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} |
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bool AP_GPS_HIL::read(void) |
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{ |
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bool result = _updated; |
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// return true once for each update pushed in |
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_updated = false; |
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return result; |
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} |
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void AP_GPS_HIL::setHIL(uint64_t _time_epoch_ms, float _latitude, float _longitude, float _altitude, |
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float _ground_speed, float _ground_course, float _speed_3d, uint8_t _num_sats) |
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{ |
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time_week = _time_epoch_ms / (86400*7*(uint64_t)1000); |
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time_week_ms = _time_epoch_ms - time_week*(86400*7*(uint64_t)1000); |
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latitude = _latitude*1.0e7f; |
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longitude = _longitude*1.0e7f; |
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altitude_cm = _altitude*1.0e2f; |
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ground_speed_cm = _ground_speed*1.0e2f; |
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ground_course_cd = _ground_course*1.0e2f; |
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speed_3d_cm = _speed_3d*1.0e2f; |
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num_sats = _num_sats; |
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fix = FIX_3D; |
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new_data = true; |
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_updated = true; |
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} |
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