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Fixed several HIL class bugs. 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@914 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
james.goppert 2010-11-24 16:32:30 +00:00
parent c473af0082
commit 9331f8616c
2 changed files with 16 additions and 12 deletions
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24
libraries/AP_GPS/AP_GPS_HIL.cpp
View File

@ -30,20 +30,24 @@ void AP_GPS_HIL::update(void)
int AP_GPS_HIL::status(void)
{
return 2; // gps locked
// TODO: show as locked after first packet received
if (valid_read)
{
if (fix) return 2;
else return 1;
}
else return 0;
}
void AP_GPS_HIL::setHIL(long _time, long _latitude, long _longitude, long _altitude,
long _ground_speed, long _ground_course, long _speed_3d, uint8_t _num_sats)
void AP_GPS_HIL::setHIL(long _time, float _latitude, float _longitude, float _altitude,
float _ground_speed, float _ground_course, float _speed_3d, uint8_t _num_sats)
{
time = _time;
latitude = _latitude*1e7;
longitude = _longitude*1e7;
altitude = _altitude*1e2;
ground_speed = _ground_speed*1e2;
ground_course = _ground_course*1e2;
speed_3d = _speed_3d*1e2;
latitude = _latitude*1.0e7;
longitude = _longitude*1.0e7;
altitude = _altitude*1.0e2;
ground_speed = _ground_speed*1.0e2;
ground_course = _ground_course*1.0e2;
speed_3d = _speed_3d*1.0e2;
num_sats = _num_sats;
new_data = true;
fix = true;

4
libraries/AP_GPS/AP_GPS_HIL.h
View File

@ -30,8 +30,8 @@ public:
* @param speed_3d - ground speed in meters/second
* @param altitude - altitude in meters
*/
void setHIL(long time, long latitude, long longitude, long altitude,
long ground_speed, long ground_course, long speed_3d, uint8_t num_sats);
void setHIL(long time, float latitude, float longitude, float altitude,
float ground_speed, float ground_course, float speed_3d, uint8_t num_sats);
};
#endif // AP_GPS_HIL_H