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AP_GPS: added setHil_Accuracy()

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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
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13
libraries/AP_GPS/AP_GPS.cpp
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@ -492,6 +492,19 @@ AP_GPS::setHIL(uint8_t instance, GPS_Status _status, uint64_t time_epoch_ms,
_type[instance].set(GPS_TYPE_HIL); _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 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 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, const Location &location, const Vector3f &velocity, uint8_t num_sats,
uint16_t hdop, bool _have_vertical_velocity); 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[]; static const struct AP_Param::GroupInfo var_info[];
// dataflash for logging, if available // dataflash for logging, if available