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AP_GPS: added fix type to setHIL

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This commit is contained in:
Andrew Tridgell 2014-02-25 21:10:30 +11:00
parent 09cce5d24e
commit d7b2a09919
4 changed files with 9 additions and 5 deletions
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5
libraries/AP_GPS/AP_GPS_HIL.cpp
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@ -46,7 +46,8 @@ bool AP_GPS_HIL::read(void)
return result; return result;
} }
void AP_GPS_HIL::setHIL(uint64_t _time_epoch_ms, float _latitude, float _longitude, float _altitude, void AP_GPS_HIL::setHIL(Fix_Status fix_status,
uint64_t _time_epoch_ms, float _latitude, float _longitude, float _altitude,
float _ground_speed, float _ground_course, float _speed_3d, uint8_t _num_sats) float _ground_speed, float _ground_course, float _speed_3d, uint8_t _num_sats)
{ {
time_week = _time_epoch_ms / (86400*7*(uint64_t)1000); time_week = _time_epoch_ms / (86400*7*(uint64_t)1000);
@ -58,7 +59,7 @@ void AP_GPS_HIL::setHIL(uint64_t _time_epoch_ms, float _latitude, float _longitu
ground_course_cd = _ground_course*1.0e2f; ground_course_cd = _ground_course*1.0e2f;
speed_3d_cm = _speed_3d*1.0e2f; speed_3d_cm = _speed_3d*1.0e2f;
num_sats = _num_sats; num_sats = _num_sats;
fix = num_sats>5?FIX_3D:FIX_NONE; fix = fix_status,
hdop = 200; hdop = 200;
_updated = true; _updated = true;
} }

3
libraries/AP_GPS/AP_GPS_HIL.h
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@ -45,7 +45,8 @@ public:
* @param speed_3d - ground speed in meters/second * @param speed_3d - ground speed in meters/second
* @param altitude - altitude in meters * @param altitude - altitude in meters
*/ */
virtual void setHIL(uint64_t time_epoch_ms, float latitude, float longitude, float altitude, virtual void setHIL(Fix_Status fix_status,
uint64_t time_epoch_ms, float latitude, float longitude, float altitude,
float ground_speed, float ground_course, float speed_3d, uint8_t num_sats); float ground_speed, float ground_course, float speed_3d, uint8_t num_sats);
private: private:

3
libraries/AP_GPS/GPS.cpp
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@ -113,7 +113,8 @@ GPS::update(void)
} }
void void
GPS::setHIL(uint64_t _time_epoch_ms, float _latitude, float _longitude, float _altitude, GPS::setHIL(Fix_Status fix_status,
uint64_t _time_epoch_ms, float _latitude, float _longitude, float _altitude,
float _ground_speed, float _ground_course, float _speed_3d, uint8_t _num_sats) float _ground_speed, float _ground_course, float _speed_3d, uint8_t _num_sats)
{ {
} }

3
libraries/AP_GPS/GPS.h
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@ -105,7 +105,8 @@ public:
bool print_errors; ///< deprecated bool print_errors; ///< deprecated
// HIL support // HIL support
virtual void setHIL(uint64_t time_epoch_ms, float latitude, float longitude, float altitude, virtual void setHIL(Fix_Status fix_status,
uint64_t time_epoch_ms, float latitude, float longitude, float altitude,
float ground_speed, float ground_course, float speed_3d, uint8_t num_sats); float ground_speed, float ground_course, float speed_3d, uint8_t num_sats);
// components of velocity in 2D, in m/s // components of velocity in 2D, in m/s