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AP_GPS: remove HIL support

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This commit is contained in:
Peter Barker 2021-06-09 21:31:35 +10:00 committed by Andrew Tridgell
parent 76aa7c485c
commit 2ff4ec80ad
2 changed files with 0 additions and 57 deletions
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49
libraries/AP_GPS/AP_GPS.cpp
View File

@ -1143,55 +1143,6 @@ void AP_GPS::handle_external(const AP_ExternalAHRS::gps_data_message_t &pkt)
}
#endif // HAL_EXTERNAL_AHRS_ENABLED
/*
set HIL (hardware in the loop) status for a GPS instance
*/
void AP_GPS::setHIL(uint8_t instance, GPS_Status _status, uint64_t time_epoch_ms,
const Location &_location, const Vector3f &_velocity, uint8_t _num_sats,
uint16_t hdop)
{
if (instance >= GPS_MAX_RECEIVERS) {
return;
}
const uint32_t tnow = AP_HAL::millis();
GPS_State &istate = state[instance];
istate.status = _status;
istate.location = _location;
istate.velocity = _velocity;
istate.ground_speed = norm(istate.velocity.x, istate.velocity.y);
istate.ground_course = wrap_360(degrees(atan2f(istate.velocity.y, istate.velocity.x)));
istate.hdop = hdop;
istate.num_sats = _num_sats;
istate.last_gps_time_ms = tnow;
uint64_t gps_time_ms = time_epoch_ms - UNIX_OFFSET_MSEC;
istate.time_week = gps_time_ms / AP_MSEC_PER_WEEK;
istate.time_week_ms = gps_time_ms - istate.time_week * AP_MSEC_PER_WEEK;
timing[instance].last_message_time_ms = tnow;
timing[instance].last_fix_time_ms = tnow;
_type[instance].set(GPS_TYPE_HIL);
}
// set accuracy for HIL
void AP_GPS::setHIL_Accuracy(uint8_t instance, float vdop, float hacc, float vacc, float sacc, bool _have_vertical_velocity, uint32_t sample_ms)
{
if (instance >= GPS_MAX_RECEIVERS) {
return;
}
GPS_State &istate = state[instance];
istate.vdop = vdop * 100;
istate.horizontal_accuracy = hacc;
istate.vertical_accuracy = vacc;
istate.speed_accuracy = sacc;
istate.have_horizontal_accuracy = true;
istate.have_vertical_accuracy = true;
istate.have_speed_accuracy = true;
istate.have_vertical_velocity |= _have_vertical_velocity;
if (sample_ms != 0) {
timing[instance].last_message_time_ms = sample_ms;
timing[instance].last_fix_time_ms = sample_ms;
}
}
/**
Lock a GPS port, preventing the GPS driver from using it. This can
be used to allow a user to control a GPS port via the

8
libraries/AP_GPS/AP_GPS.h
View File

@ -444,14 +444,6 @@ public:
// return a 3D vector defining the offset of the GPS antenna in meters relative to the body frame origin
const Vector3f &get_antenna_offset(uint8_t instance) const;
// set position for HIL
void setHIL(uint8_t instance, GPS_Status status, uint64_t time_epoch_ms,
const Location &location, const Vector3f &velocity, uint8_t num_sats,
uint16_t hdop);
// set accuracy for HIL
void setHIL_Accuracy(uint8_t instance, float vdop, float hacc, float vacc, float sacc, bool _have_vertical_velocity, uint32_t sample_ms);
// lock out a GPS port, allowing another application to use the port
void lock_port(uint8_t instance, bool locked);