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HAL_SITL: implement initial GPS position offsets

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This commit is contained in:
Andrew Tridgell 2021-06-18 11:18:18 +10:00
parent 3315ec5acc
commit 3fc88b19b8
1 changed files with 9 additions and 0 deletions
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9
libraries/AP_HAL_SITL/sitl_gps.cpp
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@ -1219,6 +1219,15 @@ void SITL_State::_update_gps(double latitude, double longitude, float altitude,
{
char c;
if (AP_HAL::millis() < 20000) {
// apply the init offsets for the first 20s. This allows for
// having the origin a long way from the takeoff location,
// which makes testing long flights easier
latitude += _sitl->gps_init_lat_ofs;
longitude += _sitl->gps_init_lon_ofs;
altitude += _sitl->gps_init_alt_ofs;
}
//Capture current position as basestation location for
if (!_gps_has_basestation_position &&
_have_lock &&