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AP_GPS: added force_disable_yaw() API

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Andrew Tridgell 2020-05-21 12:24:02 +10:00 committed by Peter Barker
parent 7d430ae0ca
commit 4aa10a6c30
1 changed files with 9 additions and 1 deletions
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10
libraries/AP_GPS/AP_GPS.h
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@ -379,7 +379,7 @@ public:
// return true if the GPS currently has yaw available // return true if the GPS currently has yaw available
bool have_gps_yaw(uint8_t instance) const { bool have_gps_yaw(uint8_t instance) const {
return state[instance].have_gps_yaw; return !_force_disable_gps_yaw && state[instance].have_gps_yaw;
} }
bool have_gps_yaw(void) const { bool have_gps_yaw(void) const {
return have_gps_yaw(primary_instance); return have_gps_yaw(primary_instance);
@ -468,6 +468,11 @@ public:
_force_disable_gps = disable; _force_disable_gps = disable;
} }
// used to disable GPS yaw for GPS failure testing in flight
void set_force_disable_yaw(bool disable) {
_force_disable_gps_yaw = disable;
}
// handle possibly fragmented RTCM injection data // handle possibly fragmented RTCM injection data
void handle_gps_rtcm_fragment(uint8_t flags, const uint8_t *data, uint8_t len); void handle_gps_rtcm_fragment(uint8_t flags, const uint8_t *data, uint8_t len);
@ -630,6 +635,9 @@ private:
// used for flight testing with GPS loss // used for flight testing with GPS loss
bool _force_disable_gps; bool _force_disable_gps;
// used for flight testing with GPS yaw loss
bool _force_disable_gps_yaw;
// used to ensure we continue sending status messages if we ever detected the second GPS // used to ensure we continue sending status messages if we ever detected the second GPS
bool has_had_second_instance; bool has_had_second_instance;
}; };