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AP_GPS: remove handling of HIL_GPS 

... per deprecation/removal schedule
This commit is contained in:
Peter Barker 2024-11-12 14:56:10 +11:00 committed by Andrew Tridgell
parent 20fa2b0741
commit f38668bd6a
1 changed files with 1 additions and 44 deletions
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45
libraries/AP_GPS/AP_GPS_MAV.cpp
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@ -143,51 +143,8 @@ void AP_GPS_MAV::handle_msg(const mavlink_message_t &msg)
state.last_gps_time_ms = now_ms; state.last_gps_time_ms = now_ms;
_new_data = true; _new_data = true;
break; break;
} }
#if AP_MAVLINK_MSG_HIL_GPS_ENABLED
case MAVLINK_MSG_ID_HIL_GPS: {
mavlink_hil_gps_t packet;
mavlink_msg_hil_gps_decode(&msg, &packet);
// check if target instance belongs to incoming gps data.
if (state.instance != packet.id) {
return;
}
state.time_week = 0;
state.time_week_ms = packet.time_usec/1000;
state.status = (AP_GPS::GPS_Status)packet.fix_type;
Location loc = {};
loc.lat = packet.lat;
loc.lng = packet.lon;
loc.alt = packet.alt * 0.1f;
state.location = loc;
state.hdop = MIN(packet.eph, GPS_UNKNOWN_DOP);
state.vdop = MIN(packet.epv, GPS_UNKNOWN_DOP);
if (packet.vel < 65535) {
state.ground_speed = packet.vel * 0.01f;
}
Vector3f vel(packet.vn*0.01f, packet.ve*0.01f, packet.vd*0.01f);
state.velocity = vel;
if (packet.vd != 0) {
state.have_vertical_velocity = true;
}
if (packet.cog < 36000) {
state.ground_course = packet.cog * 0.01f;
}
state.have_speed_accuracy = false;
state.have_horizontal_accuracy = false;
state.have_vertical_accuracy = false;
if (packet.satellites_visible < 255) {
state.num_sats = packet.satellites_visible;
}
state.last_gps_time_ms = AP_HAL::millis();
_new_data = true;
break;
}
#endif // AP_MAVLINK_MSG_HIL_GPS_ENABLED
default: default:
// ignore all other messages // ignore all other messages
break; break;