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SITL: added SIM_GPS_TYPE control

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for choosing what sort of GPS to simulate
This commit is contained in:
Andrew Tridgell 2013-02-16 20:15:57 +11:00
parent e8806b14ec
commit 2ec2c58f67
2 changed files with 9 additions and 0 deletions
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1
libraries/SITL/SITL.cpp
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@ -26,6 +26,7 @@ const AP_Param::GroupInfo SITL::var_info[] PROGMEM = {
AP_GROUPINFO("WIND_SPD", 9, SITL, wind_speed, 5),
AP_GROUPINFO("WIND_DIR", 10, SITL, wind_direction, 180),
AP_GROUPINFO("WIND_TURB", 11, SITL, wind_turbulance, 0.2),
AP_GROUPINFO("GPS_TYPE", 12, SITL, gps_type, SITL::GPS_TYPE_UBLOX),
AP_GROUPEND
};

8
libraries/SITL/SITL.h
View File

@ -32,6 +32,13 @@ public:
AP_Param::setup_object_defaults(this, var_info);
}
enum GPSType {
GPS_TYPE_UBLOX = 0,
GPS_TYPE_MTK = 1,
GPS_TYPE_MTK16 = 2,
GPS_TYPE_MTK19 = 3
};
struct sitl_fdm state;
static const struct AP_Param::GroupInfo var_info[];
@ -48,6 +55,7 @@ public:
AP_Float engine_mul; // engine multiplier
AP_Int8 gps_disable; // disable simulated GPS
AP_Int8 gps_delay; // delay in samples
AP_Int8 gps_type; // see enum GPSType
// wind control
AP_Float wind_speed;