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56 lines
1.8 KiB
56 lines
1.8 KiB
#include "AP_DAL_GPS.h" |
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#include <AP_Logger/AP_Logger.h> |
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#include "AP_DAL.h" |
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AP_DAL_GPS::AP_DAL_GPS() |
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{ |
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for (uint8_t i=0; i<ARRAY_SIZE(_RGPI); i++) { |
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_RGPI[i].instance = i; |
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_RGPJ[i].instance = i; |
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} |
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} |
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void AP_DAL_GPS::start_frame() |
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{ |
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const auto &gps = AP::gps(); |
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const log_RGPH old_RGPH = _RGPH; |
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_RGPH.primary_sensor = gps.primary_sensor(); |
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_RGPH.num_sensors = gps.num_sensors(); |
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WRITE_REPLAY_BLOCK_IFCHANGD(RGPH, _RGPH, old_RGPH); |
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for (uint8_t i=0; i<ARRAY_SIZE(_RGPI); i++) { |
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log_RGPI &RGPI = _RGPI[i]; |
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const log_RGPI old_RGPI = RGPI; |
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RGPI.status = (GPS_Status)gps.status(i); |
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const uint32_t last_message_time_ms = gps.last_message_time_ms(i); |
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const Location &loc = gps.location(i); |
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RGPI.last_message_time_ms = last_message_time_ms; |
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RGPI.lat = loc.lat; |
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RGPI.lng = loc.lng; |
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RGPI.alt = loc.alt; |
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RGPI.have_vertical_velocity = gps.have_vertical_velocity(i); |
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RGPI.horizontal_accuracy_returncode = gps.horizontal_accuracy(i, RGPI.hacc); |
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RGPI.vertical_accuracy_returncode = gps.vertical_accuracy(i, RGPI.vacc); |
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RGPI.hdop = gps.get_hdop(i); |
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RGPI.num_sats = gps.num_sats(i); |
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RGPI.get_lag_returncode = gps.get_lag(i, RGPI.lag_sec); |
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WRITE_REPLAY_BLOCK_IFCHANGD(RGPI, RGPI, old_RGPI); |
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log_RGPJ &RGPJ = _RGPJ[i]; |
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const log_RGPJ old_RGPJ = RGPJ; |
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RGPJ.velocity = gps.velocity(i); |
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RGPJ.speed_accuracy_returncode = gps.speed_accuracy(i, RGPJ.sacc); |
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RGPJ.gps_yaw_deg_returncode = gps.gps_yaw_deg(i, RGPJ.yaw_deg, RGPJ.yaw_accuracy_deg); |
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WRITE_REPLAY_BLOCK_IFCHANGD(RGPJ, RGPJ, old_RGPJ); |
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// also fetch antenna offset for this frame |
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antenna_offset[i] = gps.get_antenna_offset(i); |
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} |
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}
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