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AP_DAL: update GPS yaw API to add timestamp

This commit is contained in:
Andrew Tridgell 2021-07-20 17:37:03 +10:00 committed by Randy Mackay
parent f1cbfb3e46
commit a43bd0ae18
3 changed files with 5 additions and 7 deletions
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2
libraries/AP_DAL/AP_DAL_GPS.cpp
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@ -57,7 +57,7 @@ void AP_DAL_GPS::start_frame()
RGPJ.velocity = gps.velocity(i); RGPJ.velocity = gps.velocity(i);
RGPI.speed_accuracy_returncode = gps.speed_accuracy(i, RGPJ.sacc); RGPI.speed_accuracy_returncode = gps.speed_accuracy(i, RGPJ.sacc);
RGPI.gps_yaw_deg_returncode = gps.gps_yaw_deg(i, RGPJ.yaw_deg, RGPJ.yaw_accuracy_deg); RGPI.gps_yaw_deg_returncode = gps.gps_yaw_deg(i, RGPJ.yaw_deg, RGPJ.yaw_accuracy_deg, RGPJ.yaw_deg_time_ms);
WRITE_REPLAY_BLOCK_IFCHANGED(RGPI, RGPI, old_RGPI); WRITE_REPLAY_BLOCK_IFCHANGED(RGPI, RGPI, old_RGPI);
WRITE_REPLAY_BLOCK_IFCHANGED(RGPJ, RGPJ, old_RGPJ); WRITE_REPLAY_BLOCK_IFCHANGED(RGPJ, RGPJ, old_RGPJ);

7
libraries/AP_DAL/AP_DAL_GPS.h
View File

@ -92,13 +92,10 @@ public:
return speed_accuracy(primary_sensor(), sacc); return speed_accuracy(primary_sensor(), sacc);
} }
bool gps_yaw_deg(float &yaw_deg, float &accuracy_deg) const { bool gps_yaw_deg(uint8_t instance, float &yaw_deg, float &accuracy_deg, uint32_t &time_ms) const {
return gps_yaw_deg(_RGPH.primary_sensor, yaw_deg, accuracy_deg);
}
bool gps_yaw_deg(uint8_t instance, float &yaw_deg, float &accuracy_deg) const {
yaw_deg = _RGPJ[instance].yaw_deg; yaw_deg = _RGPJ[instance].yaw_deg;
accuracy_deg = _RGPJ[instance].yaw_accuracy_deg; accuracy_deg = _RGPJ[instance].yaw_accuracy_deg;
time_ms = _RGPJ[instance].yaw_deg_time_ms;
return _RGPI[instance].gps_yaw_deg_returncode; return _RGPI[instance].gps_yaw_deg_returncode;
} }

3
libraries/AP_DAL/LogStructure.h
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@ -208,6 +208,7 @@ struct log_RGPJ {
float sacc; float sacc;
float yaw_deg; float yaw_deg;
float yaw_accuracy_deg; float yaw_accuracy_deg;
uint32_t yaw_deg_time_ms;
int32_t lat; int32_t lat;
int32_t lng; int32_t lng;
int32_t alt; int32_t alt;
@ -399,7 +400,7 @@ struct log_RBOH {
{ LOG_RGPI_MSG, RLOG_SIZE(RGPI), \ { LOG_RGPI_MSG, RLOG_SIZE(RGPI), \
"RGPI", "ffffBBBB", "OX,OY,OZ,Lg,Flags,Stat,NSats,I", "-------#", "--------" }, \ "RGPI", "ffffBBBB", "OX,OY,OZ,Lg,Flags,Stat,NSats,I", "-------#", "--------" }, \
{ LOG_RGPJ_MSG, RLOG_SIZE(RGPJ), \ { LOG_RGPJ_MSG, RLOG_SIZE(RGPJ), \
"RGPJ", "IffffffiiiffHB", "TS,VX,VY,VZ,SA,Y,YA,Lat,Lon,Alt,HA,VA,HD,I", "-------------#", "--------------" }, \ "RGPJ", "IffffffIiiiffHB", "TS,VX,VY,VZ,SA,Y,YA,YT,Lat,Lon,Alt,HA,VA,HD,I", "--------------#", "---------------" }, \
{ LOG_RMGH_MSG, RLOG_SIZE(RMGH), \ { LOG_RMGH_MSG, RLOG_SIZE(RMGH), \
"RMGH", "BBfBBBB", "Dec,NumInst,AutoDec,NumEna,LOE,C,FUsable", "-------", "-------" }, \ "RMGH", "BBfBBBB", "Dec,NumInst,AutoDec,NumEna,LOE,C,FUsable", "-------", "-------" }, \
{ LOG_RMGI_MSG, RLOG_SIZE(RMGI), \ { LOG_RMGI_MSG, RLOG_SIZE(RMGI), \