zrzk
/
zr-v4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

AP_GPS: implement GPS*_RTK mavlink messages

master
Dr.-Ing. Amilcar Do Carmo Lucas 8 years ago committed by Francisco Ferreira
parent
91b6404b13
commit
bf6778277e
2 changed files with 50 additions and 0 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 8
      libraries/AP_GPS/AP_GPS.h
  2. 42
      libraries/AP_GPS/GPS_Backend.cpp

8
libraries/AP_GPS/AP_GPS.h
Unescape View File

@ -149,8 +149,16 @@ public: @@ -149,8 +149,16 @@ public:
uint32_t last_gps_time_ms; ///< the system time we got the last GPS timestamp, milliseconds
// all the following fields must only all be filled by RTK capable backend drivers
uint32_t rtk_time_week_ms; ///< GPS Time of Week of last baseline in milliseconds
uint16_t rtk_week_number; ///< GPS Week Number of last baseline
uint32_t rtk_age_ms; ///< GPS age of last baseline correction in milliseconds (0 when no corrections, 0xFFFFFFFF indicates overflow)
uint8_t rtk_num_sats; ///< Current number of satellites used for RTK calculation
uint8_t rtk_baseline_coords_type; ///< Coordinate system of baseline. 0 == ECEF, 1 == NED
int32_t rtk_baseline_x_mm; ///< Current baseline in ECEF x or NED north component in mm
int32_t rtk_baseline_y_mm; ///< Current baseline in ECEF y or NED east component in mm
int32_t rtk_baseline_z_mm; ///< Current baseline in ECEF z or NED down component in mm
uint32_t rtk_accuracy; ///< Current estimate of 3D baseline accuracy (receiver dependent, typical 0 to 9999)
int32_t rtk_iar_num_hypotheses; ///< Current number of integer ambiguity hypotheses
};
/// Startup initialisation.

42
libraries/AP_GPS/GPS_Backend.cpp
Unescape View File

@ -184,3 +184,45 @@ bool AP_GPS_Backend::should_df_log() const @@ -184,3 +184,45 @@ bool AP_GPS_Backend::should_df_log() const
}
return true;
}
void AP_GPS_Backend::send_mavlink_gps_rtk(mavlink_channel_t chan)
{
const uint8_t instance = state.instance;
// send status
switch (instance) {
case 0:
mavlink_msg_gps_rtk_send(chan,
0, // Not implemented yet
0, // Not implemented yet
state.rtk_week_number,
state.rtk_time_week_ms,
0, // Not implemented yet
0, // Not implemented yet
state.rtk_num_sats,
state.rtk_baseline_coords_type,
state.rtk_baseline_x_mm,
state.rtk_baseline_y_mm,
state.rtk_baseline_z_mm,
state.rtk_accuracy,
state.rtk_iar_num_hypotheses);
break;
case 1:
mavlink_msg_gps2_rtk_send(chan,
0, // Not implemented yet
0, // Not implemented yet
state.rtk_week_number,
state.rtk_time_week_ms,
0, // Not implemented yet
0, // Not implemented yet
state.rtk_num_sats,
state.rtk_baseline_coords_type,
state.rtk_baseline_x_mm,
state.rtk_baseline_y_mm,
state.rtk_baseline_z_mm,
state.rtk_accuracy,
state.rtk_iar_num_hypotheses);
break;
}
}

Write Preview
Loading…
Cancel
Save