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GPS_Glitch: make enable/disable a parameter

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This commit is contained in:
Randy Mackay 2013-09-23 12:04:09 +09:00
parent 78124f2fca
commit a2c0415ba9
2 changed files with 23 additions and 5 deletions
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17
libraries/AP_GPS/AP_GPS_Glitch.cpp
View File

@ -10,11 +10,24 @@
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
// table of user settable parameters
const AP_Param::GroupInfo GPS_Glitch::var_info[] PROGMEM = {
// @Param: ENABLE
// @DisplayName: GPS Glitch protection enable/disable
// @Description: Allows you to enable (1) or disable (0) gps glitch protection
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("ENABLE", 0, GPS_Glitch, _enabled, 1),
AP_GROUPEND
};
// constuctor // constuctor
GPS_Glitch::GPS_Glitch(GPS*& gps) : GPS_Glitch::GPS_Glitch(GPS*& gps) :
_gps(gps) _gps(gps)
{ {
_flags.enabled = true; AP_Param::setup_object_defaults(this, var_info);
_enabled = true;
} }
// check_position - returns true if gps position is acceptable, false if not // check_position - returns true if gps position is acceptable, false if not
@ -35,7 +48,7 @@ void GPS_Glitch::check_position()
} }
// if not initialised or disabled update last good position and exit // if not initialised or disabled update last good position and exit
if (!_flags.initialised || !_flags.enabled) { if (!_flags.initialised || !_enabled) {
_last_good_update = now; _last_good_update = now;
_last_good_lat = _gps->latitude; _last_good_lat = _gps->latitude;
_last_good_lon = _gps->longitude; _last_good_lon = _gps->longitude;

11
libraries/AP_GPS/AP_GPS_Glitch.h
View File

@ -28,10 +28,10 @@ public:
void check_position(); void check_position();
// enable - enable or disable gps sanity checking // enable - enable or disable gps sanity checking
void enable(bool true_or_false) { _flags.enabled = true_or_false; } void enable(bool true_or_false) { _enabled = true_or_false; }
// enabled - returns true if glitch detection is enabled // enabled - returns true if glitch detection is enabled
bool enabled() { return _flags.enabled; } bool enabled() { return _enabled; }
// glitching - returns true if we are experiencing a glitch // glitching - returns true if we are experiencing a glitch
bool glitching() { return _flags.glitching; } bool glitching() { return _flags.glitching; }
@ -39,6 +39,9 @@ public:
// last_good_update - returns system time of the last good update // last_good_update - returns system time of the last good update
uint32_t last_good_update() { return _last_good_update; } uint32_t last_good_update() { return _last_good_update; }
// class level parameters
static const struct AP_Param::GroupInfo var_info[];
private: private:
/// external dependencies /// external dependencies
@ -47,10 +50,12 @@ private:
/// structure for holding flags /// structure for holding flags
struct GPS_Glitch_flags { struct GPS_Glitch_flags {
uint8_t initialised : 1; // 1 if we have received at least one good gps lock uint8_t initialised : 1; // 1 if we have received at least one good gps lock
uint8_t enabled : 1; // 1 if we are enabled
uint8_t glitching : 1; // 1 if we are experiencing a gps glitch uint8_t glitching : 1; // 1 if we are experiencing a gps glitch
} _flags; } _flags;
// parameters
AP_Int8 _enabled; // top level enable/disable control
// gps sanity check variables // gps sanity check variables
uint32_t _last_good_update; // system time of last gps update that passed checks uint32_t _last_good_update; // system time of last gps update that passed checks
int32_t _last_good_lat; // last good latitude reported by the gps int32_t _last_good_lat; // last good latitude reported by the gps