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48 lines
1.5 KiB
48 lines
1.5 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
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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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// This library is free software; you can redistribute it and / or |
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// modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation; either |
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// version 2.1 of the License, or (at your option) any later version. |
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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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idleTimeout = 1200; |
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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(uint32_t _time, 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 = _time; |
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latitude = _latitude*1.0e7f; |
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longitude = _longitude*1.0e7f; |
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altitude = _altitude*1.0e2f; |
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ground_speed = _ground_speed*1.0e2f; |
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ground_course = _ground_course*1.0e2f; |
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speed_3d = _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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