ardupilot/libraries/AP_GPS/AP_GPS_MSP.cpp

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/*
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