yaapu
4 years ago
committed by
Andrew Tridgell
6 changed files with 185 additions and 3 deletions
@ -0,0 +1,100 @@ |
|||||||
|
/*
|
||||||
|
This program is free software: you can redistribute it and/or modify |
||||||
|
it under the terms of the GNU General Public License as published by |
||||||
|
the Free Software Foundation, either version 3 of the License, or |
||||||
|
(at your option) any later version. |
||||||
|
|
||||||
|
This program is distributed in the hope that it will be useful, |
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||||||
|
GNU General Public License for more details. |
||||||
|
|
||||||
|
You should have received a copy of the GNU General Public License |
||||||
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*/ |
||||||
|
|
||||||
|
//
|
||||||
|
// MSP GPS driver
|
||||||
|
//
|
||||||
|
#include <AP_MSP/msp.h> |
||||||
|
#include "AP_GPS_MSP.h" |
||||||
|
|
||||||
|
#if HAL_MSP_GPS_ENABLED |
||||||
|
|
||||||
|
AP_GPS_MSP::AP_GPS_MSP(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port) : |
||||||
|
AP_GPS_Backend(_gps, _state, _port) |
||||||
|
{ |
||||||
|
} |
||||||
|
|
||||||
|
// Reading does nothing in this class; we simply return whether or not
|
||||||
|
// the latest reading has been consumed. By calling this function we assume
|
||||||
|
// the caller is consuming the new data;
|
||||||
|
bool AP_GPS_MSP::read(void) |
||||||
|
{ |
||||||
|
if (new_data) { |
||||||
|
new_data = false; |
||||||
|
return true; |
||||||
|
} |
||||||
|
return false; |
||||||
|
} |
||||||
|
|
||||||
|
// handles an incoming msp message and sets
|
||||||
|
// corresponding gps data appropriately;
|
||||||
|
void AP_GPS_MSP::handle_msp(const MSP::msp_gps_data_message_t &pkt) |
||||||
|
{ |
||||||
|
check_new_itow(pkt.ms_tow, sizeof(pkt)); |
||||||
|
|
||||||
|
state.time_week = pkt.gps_week; |
||||||
|
state.time_week_ms = pkt.ms_tow; |
||||||
|
state.status = (AP_GPS::GPS_Status)pkt.fix_type; |
||||||
|
state.num_sats = pkt.satellites_in_view; |
||||||
|
|
||||||
|
Location loc = {}; |
||||||
|
loc.lat = pkt.latitude; |
||||||
|
loc.lng = pkt.longitude; |
||||||
|
loc.alt = pkt.msl_altitude; |
||||||
|
|
||||||
|
state.location = loc; |
||||||
|
state.hdop = pkt.hdop; |
||||||
|
state.vdop = GPS_UNKNOWN_DOP; |
||||||
|
|
||||||
|
state.have_vertical_velocity = true; |
||||||
|
Vector3f vel; |
||||||
|
vel.x = pkt.ned_vel_north * 0.01; |
||||||
|
vel.y = pkt.ned_vel_east * 0.01; |
||||||
|
vel.z = pkt.ned_vel_down * 0.01; |
||||||
|
state.velocity = vel; |
||||||
|
|
||||||
|
state.ground_course = wrap_360(degrees(atan2f(state.velocity.y, state.velocity.x))); |
||||||
|
state.ground_speed = norm(state.velocity.y, state.velocity.x); |
||||||
|
|
||||||
|
state.have_speed_accuracy = true; |
||||||
|
state.have_horizontal_accuracy = true; |
||||||
|
state.have_vertical_accuracy = true; |
||||||
|
state.have_vertical_velocity = true; |
||||||
|
|
||||||
|
state.horizontal_accuracy = pkt.horizontal_pos_accuracy * 0.01; |
||||||
|
state.vertical_accuracy = pkt.vertical_pos_accuracy * 0.01; |
||||||
|
state.speed_accuracy = pkt.horizontal_vel_accuracy * 0.01; |
||||||
|
|
||||||
|
if (pkt.true_yaw != 65535) { |
||||||
|
state.gps_yaw = wrap_360(pkt.true_yaw*0.01); |
||||||
|
state.have_gps_yaw = true; |
||||||
|
} |
||||||
|
|
||||||
|
state.last_gps_time_ms = AP_HAL::millis(); |
||||||
|
|
||||||
|
new_data = pkt.fix_type>0; |
||||||
|
} |
||||||
|
|
||||||
|
/*
|
||||||
|
return velocity lag in seconds |
||||||
|
*/ |
||||||
|
bool AP_GPS_MSP::get_lag(float &lag_sec) const |
||||||
|
{ |
||||||
|
// measured on Matek M8Q
|
||||||
|
lag_sec = 0.11; |
||||||
|
return true; |
||||||
|
} |
||||||
|
|
||||||
|
#endif // HAL_MSP_GPS_ENABLED
|
||||||
@ -0,0 +1,45 @@ |
|||||||
|
/*
|
||||||
|
This program is free software: you can redistribute it and/or modify |
||||||
|
it under the terms of the GNU General Public License as published by |
||||||
|
the Free Software Foundation, either version 3 of the License, or |
||||||
|
(at your option) any later version. |
||||||
|
|
||||||
|
This program is distributed in the hope that it will be useful, |
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||||||
|
GNU General Public License for more details. |
||||||
|
|
||||||
|
You should have received a copy of the GNU General Public License |
||||||
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*/ |
||||||
|
|
||||||
|
//
|
||||||
|
// MSP GPS driver which accepts gps position data from an external source
|
||||||
|
//
|
||||||
|
#pragma once |
||||||
|
|
||||||
|
#include <AP_Common/AP_Common.h> |
||||||
|
#include <AP_HAL/AP_HAL.h> |
||||||
|
|
||||||
|
#include "AP_GPS.h" |
||||||
|
#include "GPS_Backend.h" |
||||||
|
|
||||||
|
#if HAL_MSP_GPS_ENABLED |
||||||
|
|
||||||
|
class AP_GPS_MSP : public AP_GPS_Backend |
||||||
|
{ |
||||||
|
public: |
||||||
|
AP_GPS_MSP(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port); |
||||||
|
|
||||||
|
bool read() override; |
||||||
|
void handle_msp(const MSP::msp_gps_data_message_t &pkt) override; |
||||||
|
|
||||||
|
const char *name() const override { return "MSP"; } |
||||||
|
|
||||||
|
bool get_lag(float &lag_sec) const override; |
||||||
|
|
||||||
|
private: |
||||||
|
bool new_data; |
||||||
|
}; |
||||||
|
|
||||||
|
#endif // HAL_MSP_GPS_ENABLED
|
||||||
Loading…
Reference in new issue