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AP_HAL_SITL: Add hdop to ublox sitl sim (as well as vdop to be reported)

This commit is contained in:
Michael du Breuil 2015-08-07 05:42:37 -07:00 committed by Randy Mackay
parent cf1273668e
commit c8c34f54cc
1 changed files with 21 additions and 0 deletions
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21
libraries/AP_HAL_SITL/sitl_gps.cpp
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@ -211,8 +211,19 @@ void SITL_State::_update_gps_ubx(const struct gps_data *d)
uint8_t satellites;
uint32_t res2;
} sol;
struct PACKED ubx_nav_dop {
uint32_t time; // GPS msToW
uint16_t gDOP;
uint16_t pDOP;
uint16_t tDOP;
uint16_t vDOP;
uint16_t hDOP;
uint16_t nDOP;
uint16_t eDOP;
} dop;
const uint8_t MSG_POSLLH = 0x2;
const uint8_t MSG_STATUS = 0x3;
const uint8_t MSG_DOP = 0x4;
const uint8_t MSG_VELNED = 0x12;
const uint8_t MSG_SOL = 0x6;
uint16_t time_week;
@ -256,10 +267,20 @@ void SITL_State::_update_gps_ubx(const struct gps_data *d)
sol.time = time_week_ms;
sol.week = time_week;
dop.time = time_week_ms;
dop.gDOP = 65535;
dop.pDOP = 65535;
dop.tDOP = 65535;
dop.vDOP = 200;
dop.hDOP = 121;
dop.nDOP = 65535;
dop.eDOP = 65535;
_gps_send_ubx(MSG_POSLLH, (uint8_t*)&pos, sizeof(pos));
_gps_send_ubx(MSG_STATUS, (uint8_t*)&status, sizeof(status));
_gps_send_ubx(MSG_VELNED, (uint8_t*)&velned, sizeof(velned));
_gps_send_ubx(MSG_SOL, (uint8_t*)&sol, sizeof(sol));
_gps_send_ubx(MSG_DOP, (uint8_t*)&dop, sizeof(dop));
}
static void swap_uint32(uint32_t *v, uint8_t n)