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AP_HAL_SITL: remove mtk GPSs 

These are ancient and of very poor quality.
This commit is contained in:
Peter Barker 2021-09-28 11:12:31 +10:00 committed by Andrew Tridgell
parent 068f91169c
commit 6bd2bc2179
2 changed files with 0 additions and 199 deletions
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3
libraries/AP_HAL_SITL/SITL_State.h
View File

@ -163,9 +163,6 @@ private:
void _gps_write(const uint8_t *p, uint16_t size, uint8_t instance);
void _gps_send_ubx(uint8_t msgid, uint8_t *buf, uint16_t size, uint8_t instance);
void _update_gps_ubx(const struct gps_data *d, uint8_t instance);
void _update_gps_mtk(const struct gps_data *d, uint8_t instance);
void _update_gps_mtk16(const struct gps_data *d, uint8_t instance);
void _update_gps_mtk19(const struct gps_data *d, uint8_t instance);
uint8_t _gps_nmea_checksum(const char *s);
void _gps_nmea_printf(uint8_t instance, const char *fmt, ...);
void _update_gps_nmea(const struct gps_data *d, uint8_t instance);

196
libraries/AP_HAL_SITL/sitl_gps.cpp
View File

@ -475,190 +475,6 @@ void SITL_State::_update_gps_ubx(const struct gps_data *d, uint8_t instance)
}
}
/*
MTK type simple checksum
*/
static void mtk_checksum(const uint8_t *data, uint8_t n, uint8_t *ck_a, uint8_t *ck_b)
{
*ck_a = *ck_b = 0;
while (n--) {
*ck_a += *data++;
*ck_b += *ck_a;
}
}
/*
send a new GPS MTK packet
*/
void SITL_State::_update_gps_mtk(const struct gps_data *d, uint8_t instance)
{
struct PACKED mtk_msg {
uint8_t preamble1;
uint8_t preamble2;
uint8_t msg_class;
uint8_t msg_id;
int32_t latitude;
int32_t longitude;
int32_t altitude;
int32_t ground_speed;
int32_t ground_course;
uint8_t satellites;
uint8_t fix_type;
uint32_t utc_time;
uint8_t ck_a;
uint8_t ck_b;
} p;
p.preamble1 = 0xb5;
p.preamble2 = 0x62;
p.msg_class = 1;
p.msg_id = 5;
p.latitude = htonl(d->latitude * 1.0e6);
p.longitude = htonl(d->longitude * 1.0e6);
p.altitude = htonl(d->altitude * 100);
p.ground_speed = htonl(norm(d->speedN, d->speedE) * 100);
p.ground_course = htonl(ToDeg(atan2f(d->speedE, d->speedN)) * 1000000.0f);
if (p.ground_course < 0.0f) {
p.ground_course += 360.0f * 1000000.0f;
}
p.satellites = d->have_lock?_sitl->gps_numsats[instance]:3;
p.fix_type = d->have_lock?3:1;
// the spec is not very clear, but the time field seems to be
// milliseconds since the start of the day in UTC time,
// done in powers of 100.
// The date is powers of 100 as well, but in days since 1/1/2000
struct tm tm;
struct timeval tv;
simulation_timeval(&tv);
tm = *gmtime(&tv.tv_sec);
uint32_t hsec = (tv.tv_usec / (10000*20)) * 20; // always multiple of 20
p.utc_time = htonl(hsec + tm.tm_sec*100 + tm.tm_min*100*100 + tm.tm_hour*100*100*100);
mtk_checksum(&p.msg_class, sizeof(p)-4, &p.ck_a, &p.ck_b);
_gps_write((uint8_t*)&p, sizeof(p), instance);
}
/*
send a new GPS MTK 1.6 packet
*/
void SITL_State::_update_gps_mtk16(const struct gps_data *d, uint8_t instance)
{
struct PACKED mtk_msg {
uint8_t preamble1;
uint8_t preamble2;
uint8_t size;
int32_t latitude;
int32_t longitude;
int32_t altitude;
int32_t ground_speed;
int32_t ground_course;
uint8_t satellites;
uint8_t fix_type;
uint32_t utc_date;
uint32_t utc_time;
uint16_t hdop;
uint8_t ck_a;
uint8_t ck_b;
} p;
p.preamble1 = 0xd0;
p.preamble2 = 0xdd;
p.size = sizeof(p) - 5;
p.latitude = d->latitude * 1.0e6;
p.longitude = d->longitude * 1.0e6;
p.altitude = d->altitude * 100;
p.ground_speed = norm(d->speedN, d->speedE) * 100;
p.ground_course = ToDeg(atan2f(d->speedE, d->speedN)) * 100.0f;
if (p.ground_course < 0.0f) {
p.ground_course += 360.0f * 100.0f;
}
p.satellites = d->have_lock?_sitl->gps_numsats[instance]:3;
p.fix_type = d->have_lock?3:1;
// the spec is not very clear, but the time field seems to be
// milliseconds since the start of the day in UTC time,
// done in powers of 100.
// The date is powers of 100 as well, but in days since 1/1/2000
struct tm tm;
struct timeval tv;
simulation_timeval(&tv);
tm = *gmtime(&tv.tv_sec);
uint32_t millisec = (tv.tv_usec / (1000*200)) * 200; // always multiple of 200
p.utc_date = (tm.tm_year-100) + ((tm.tm_mon+1)*100) + (tm.tm_mday*100*100);
p.utc_time = millisec + tm.tm_sec*1000 + tm.tm_min*1000*100 + tm.tm_hour*1000*100*100;
p.hdop = 115;
mtk_checksum(&p.size, sizeof(p)-4, &p.ck_a, &p.ck_b);
_gps_write((uint8_t*)&p, sizeof(p), instance);
}
/*
send a new GPS MTK 1.9 packet
*/
void SITL_State::_update_gps_mtk19(const struct gps_data *d, uint8_t instance)
{
struct PACKED mtk_msg {
uint8_t preamble1;
uint8_t preamble2;
uint8_t size;
int32_t latitude;
int32_t longitude;
int32_t altitude;
int32_t ground_speed;
int32_t ground_course;
uint8_t satellites;
uint8_t fix_type;
uint32_t utc_date;
uint32_t utc_time;
uint16_t hdop;
uint8_t ck_a;
uint8_t ck_b;
} p;
p.preamble1 = 0xd1;
p.preamble2 = 0xdd;
p.size = sizeof(p) - 5;
p.latitude = d->latitude * 1.0e7;
p.longitude = d->longitude * 1.0e7;
p.altitude = d->altitude * 100;
p.ground_speed = norm(d->speedN, d->speedE) * 100;
p.ground_course = ToDeg(atan2f(d->speedE, d->speedN)) * 100.0f;
if (p.ground_course < 0.0f) {
p.ground_course += 360.0f * 100.0f;
}
p.satellites = d->have_lock?_sitl->gps_numsats[instance]:3;
p.fix_type = d->have_lock?3:1;
// the spec is not very clear, but the time field seems to be
// milliseconds since the start of the day in UTC time,
// done in powers of 100.
// The date is powers of 100 as well, but in days since 1/1/2000
struct tm tm;
struct timeval tv;
simulation_timeval(&tv);
tm = *gmtime(&tv.tv_sec);
uint32_t millisec = (tv.tv_usec / (1000*200)) * 200; // always multiple of 200
p.utc_date = (tm.tm_year-100) + ((tm.tm_mon+1)*100) + (tm.tm_mday*100*100);
p.utc_time = millisec + tm.tm_sec*1000 + tm.tm_min*1000*100 + tm.tm_hour*1000*100*100;
p.hdop = 115;
mtk_checksum(&p.size, sizeof(p)-4, &p.ck_a, &p.ck_b);
_gps_write((uint8_t*)&p, sizeof(p), instance);
}
/*
formatted print of NMEA message, with checksum appended
*/
@ -1357,18 +1173,6 @@ void SITL_State::_update_gps_instance(SITL::SIM::GPSType gps_type, const struct
_update_gps_ubx(data, instance);
break;
case SITL::SIM::GPS_TYPE_MTK:
_update_gps_mtk(data, instance);
break;
case SITL::SIM::GPS_TYPE_MTK16:
_update_gps_mtk16(data, instance);
break;
case SITL::SIM::GPS_TYPE_MTK19:
_update_gps_mtk19(data, instance);
break;
case SITL::SIM::GPS_TYPE_NMEA:
_update_gps_nmea(data, instance);
break;