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