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HAL_SITL: implement SIM_GPSDRIFTALT

This commit is contained in:
Andrew Tridgell 2015-02-21 08:33:01 +11:00
parent 63c792bc1c
commit 869fb23062
1 changed files with 6 additions and 0 deletions
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6
libraries/AP_HAL_AVR_SITL/sitl_gps.cpp
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@ -759,6 +759,12 @@ void SITL_State::_update_gps(double latitude, double longitude, float altitude,
d.latitude = latitude + glitch_offsets.x; d.latitude = latitude + glitch_offsets.x;
d.longitude = longitude + glitch_offsets.y; d.longitude = longitude + glitch_offsets.y;
d.altitude = altitude + glitch_offsets.z; d.altitude = altitude + glitch_offsets.z;
if (_sitl->gps_drift_alt > 0) {
// slow altitude drift
d.altitude += _sitl->gps_drift_alt*sinf(hal.scheduler->millis()*0.001*0.02);
}
d.speedN = speedN; d.speedN = speedN;
d.speedE = speedE; d.speedE = speedE;
d.speedD = speedD; d.speedD = speedD;