2016-05-19 20:24:08 -03:00
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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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// MAVLINK GPS driver
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//
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#include "AP_GPS_MAV.h"
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#include <stdint.h>
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AP_GPS_MAV::AP_GPS_MAV(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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_new_data = false;
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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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2016-07-12 03:44:19 -03:00
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bool AP_GPS_MAV::read(void)
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2016-05-19 20:24:08 -03:00
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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 mavlink message (HIL_GPS) and sets
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// corresponding gps data appropriately;
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2016-10-04 04:37:52 -03:00
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void AP_GPS_MAV::handle_msg(const mavlink_message_t *msg)
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2016-05-19 20:24:08 -03:00
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{
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2016-12-06 20:53:28 -04:00
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switch (msg->msgid) {
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case MAVLINK_MSG_ID_GPS_INPUT: {
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mavlink_gps_input_t packet;
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mavlink_msg_gps_input_decode(msg, &packet);
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bool have_alt = ((packet.ignore_flags & GPS_INPUT_IGNORE_FLAG_ALT) == 0);
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bool have_hdop = ((packet.ignore_flags & GPS_INPUT_IGNORE_FLAG_HDOP) == 0);
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bool have_vdop = ((packet.ignore_flags & GPS_INPUT_IGNORE_FLAG_VDOP) == 0);
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bool have_vel_h = ((packet.ignore_flags & GPS_INPUT_IGNORE_FLAG_VEL_HORIZ) == 0);
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bool have_vel_v = ((packet.ignore_flags & GPS_INPUT_IGNORE_FLAG_VEL_VERT) == 0);
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bool have_sa = ((packet.ignore_flags & GPS_INPUT_IGNORE_FLAG_SPEED_ACCURACY) == 0);
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bool have_ha = ((packet.ignore_flags & GPS_INPUT_IGNORE_FLAG_HORIZONTAL_ACCURACY) == 0);
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bool have_va = ((packet.ignore_flags & GPS_INPUT_IGNORE_FLAG_VERTICAL_ACCURACY) == 0);
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state.time_week = packet.time_week;
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state.time_week_ms = packet.time_week_ms;
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state.status = (AP_GPS::GPS_Status)packet.fix_type;
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Location loc = {};
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loc.lat = packet.lat;
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loc.lng = packet.lon;
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if (have_alt) {
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2016-12-07 20:36:41 -04:00
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loc.alt = packet.alt * 100; // convert to centimeters
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2016-12-06 20:53:28 -04:00
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}
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state.location = loc;
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state.location.options = 0;
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if (have_hdop) {
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state.hdop = packet.hdop * 100; // convert to centimeters
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}
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if (have_vdop) {
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state.vdop = packet.vdop * 100; // convert to centimeters
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}
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if (have_vel_h) {
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Vector3f vel(packet.vn, packet.ve, 0);
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2018-03-01 03:00:15 -04:00
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if (have_vel_v) {
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2016-12-06 20:53:28 -04:00
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vel.z = packet.vd;
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2018-03-01 03:00:15 -04:00
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state.have_vertical_velocity = true;
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}
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2016-12-06 20:53:28 -04:00
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state.velocity = vel;
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state.ground_course = wrap_360(degrees(atan2f(vel.y, vel.x)));
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state.ground_speed = norm(vel.x, vel.y);
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}
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if (have_sa) {
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state.speed_accuracy = packet.speed_accuracy;
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2017-03-08 02:22:20 -04:00
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state.have_speed_accuracy = true;
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2016-12-06 20:53:28 -04:00
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}
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if (have_ha) {
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state.horizontal_accuracy = packet.horiz_accuracy;
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2017-03-08 02:22:20 -04:00
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state.have_horizontal_accuracy = true;
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2016-12-06 20:53:28 -04:00
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}
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if (have_va) {
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state.vertical_accuracy = packet.vert_accuracy;
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state.have_vertical_accuracy = true;
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2016-12-06 20:53:28 -04:00
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}
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state.num_sats = packet.satellites_visible;
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state.last_gps_time_ms = AP_HAL::millis();
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_new_data = true;
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break;
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}
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case MAVLINK_MSG_ID_HIL_GPS: {
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mavlink_hil_gps_t packet;
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mavlink_msg_hil_gps_decode(msg, &packet);
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state.time_week = 0;
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state.time_week_ms = packet.time_usec/1000;
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state.status = (AP_GPS::GPS_Status)packet.fix_type;
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Location loc = {};
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loc.lat = packet.lat;
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loc.lng = packet.lon;
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loc.alt = packet.alt * 0.1f;
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2016-12-06 20:53:28 -04:00
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state.location = loc;
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state.location.options = 0;
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2017-05-24 16:19:10 -03:00
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state.hdop = MIN(packet.eph, GPS_UNKNOWN_DOP);
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state.vdop = MIN(packet.epv, GPS_UNKNOWN_DOP);
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2016-12-06 20:53:28 -04:00
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if (packet.vel < 65535) {
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state.ground_speed = packet.vel / 100.0f;
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}
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Vector3f vel(packet.vn/100.0f, packet.ve/100.0f, packet.vd/100.0f);
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state.velocity = vel;
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2018-04-04 16:36:57 -03:00
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if (packet.vd != 0) {
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state.have_vertical_velocity = true;
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}
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2016-12-07 20:37:03 -04:00
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if (packet.cog < 36000) {
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2016-12-06 20:53:28 -04:00
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state.ground_course = packet.cog / 100.0f;
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}
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2017-03-08 02:22:20 -04:00
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state.have_speed_accuracy = false;
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2018-04-04 16:36:57 -03:00
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state.have_horizontal_accuracy = false;
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state.have_vertical_accuracy = false;
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2016-12-07 20:37:03 -04:00
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if (packet.satellites_visible < 255) {
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state.num_sats = packet.satellites_visible;
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}
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2016-12-06 20:53:28 -04:00
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state.last_gps_time_ms = AP_HAL::millis();
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_new_data = true;
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break;
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}
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default:
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// ignore all other messages
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break;
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2016-07-12 03:44:19 -03:00
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}
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2016-05-19 20:24:08 -03:00
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}
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