Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-22 00:28:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_GPS: added setHil_Accuracy()

Browse Source
This commit is contained in:
Andrew Tridgell 2016-05-04 18:16:05 +10:00
parent 772acf056b
commit 4e5f1374da
2 changed files with 16 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
libraries/AP_GPS/AP_GPS.cpp
View File

@ -492,6 +492,19 @@ AP_GPS::setHIL(uint8_t instance, GPS_Status _status, uint64_t time_epoch_ms,
_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)
{
GPS_State &istate = state[instance];
istate.vdop = vdop;
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;
}
/**
Lock a GPS port, prevening the GPS driver from using it. This can
be used to allow a user to control a GPS port via the

3
libraries/AP_GPS/AP_GPS.h
View File

@ -307,6 +307,9 @@ public:
const Location &location, const Vector3f &velocity, uint8_t num_sats,
uint16_t hdop, bool _have_vertical_velocity);
// set accuracy for HIL
void setHIL_Accuracy(uint8_t instance, float vdop, float hacc, float vacc, float sacc);
static const struct AP_Param::GroupInfo var_info[];
// dataflash for logging, if available