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SITL: set a reasonable number of satellites in simulated uBlox

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This commit is contained in:
Andrew Tridgell 2012-11-06 14:24:54 +11:00
parent fe47990dab
commit cd0672ce94
1 changed files with 26 additions and 0 deletions
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26
libraries/Desktop/support/sitl_gps.cpp
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@ -131,9 +131,29 @@ void sitl_update_gps(double latitude, double longitude, float altitude,
uint32_t speed_accuracy; uint32_t speed_accuracy;
uint32_t heading_accuracy; uint32_t heading_accuracy;
} velned; } velned;
struct ubx_nav_solution {
uint32_t time;
int32_t time_nsec;
int16_t week;
uint8_t fix_type;
uint8_t fix_status;
int32_t ecef_x;
int32_t ecef_y;
int32_t ecef_z;
uint32_t position_accuracy_3d;
int32_t ecef_x_velocity;
int32_t ecef_y_velocity;
int32_t ecef_z_velocity;
uint32_t speed_accuracy;
uint16_t position_DOP;
uint8_t res;
uint8_t satellites;
uint32_t res2;
} sol;
const uint8_t MSG_POSLLH = 0x2; const uint8_t MSG_POSLLH = 0x2;
const uint8_t MSG_STATUS = 0x3; const uint8_t MSG_STATUS = 0x3;
const uint8_t MSG_VELNED = 0x12; const uint8_t MSG_VELNED = 0x12;
const uint8_t MSG_SOL = 0x6;
struct gps_data d; struct gps_data d;
// 5Hz, to match the real UBlox config in APM // 5Hz, to match the real UBlox config in APM
@ -195,6 +215,11 @@ void sitl_update_gps(double latitude, double longitude, float altitude,
velned.speed_accuracy = 2; velned.speed_accuracy = 2;
velned.heading_accuracy = 4; velned.heading_accuracy = 4;
memset(&sol, 0, sizeof(sol));
sol.fix_type = d.have_lock?3:0;
sol.fix_status = 221;
sol.satellites = d.have_lock?10:3;
if (gps_state.gps_fd == 0) { if (gps_state.gps_fd == 0) {
return; return;
} }
@ -202,4 +227,5 @@ void sitl_update_gps(double latitude, double longitude, float altitude,
gps_send(MSG_POSLLH, (uint8_t*)&pos, sizeof(pos)); gps_send(MSG_POSLLH, (uint8_t*)&pos, sizeof(pos));
gps_send(MSG_STATUS, (uint8_t*)&status, sizeof(status)); gps_send(MSG_STATUS, (uint8_t*)&status, sizeof(status));
gps_send(MSG_VELNED, (uint8_t*)&velned, sizeof(velned)); gps_send(MSG_VELNED, (uint8_t*)&velned, sizeof(velned));
gps_send(MSG_SOL, (uint8_t*)&sol, sizeof(sol));
} }