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77 lines
2.7 KiB
77 lines
2.7 KiB
/**************************************************************************** |
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* |
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* Copyright (c) 2019 ECL Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/** |
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* Feeds Ekf with Gps data |
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* @author Kamil Ritz <ka.ritz@hotmail.com> |
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*/ |
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#pragma once |
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#include "sensor.h" |
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namespace sensor_simulator |
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{ |
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namespace sensor |
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{ |
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class Gps: public Sensor |
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{ |
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public: |
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Gps(std::shared_ptr<Ekf> ekf); |
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~Gps(); |
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void setData(const gps_message& gps); |
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void stepHeightByMeters(const float hgt_change); |
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void stepHorizontalPositionByMeters(const Vector2f hpos_change); |
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void setPositionRateNED(const Vector3f& rate); |
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void setAltitude(const int32_t alt); |
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void setLatitude(const int32_t lat); |
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void setLongitude(const int32_t lon); |
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void setVelocity(const Vector3f& vel); |
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void setYaw(const float yaw); |
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void setYawOffset(const float yaw); |
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void setFixType(const int fix_type); |
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void setNumberOfSatellites(const int num_satellites); |
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void setPdop(const float pdop); |
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gps_message getDefaultGpsData(); |
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private: |
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void send(uint64_t time) override; |
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gps_message _gps_data{}; |
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Vector3f _gps_pos_rate{}; |
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}; |
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} // namespace sensor |
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} // namespace sensor_simulator
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