mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-02-04 23:18:29 -04:00
AP_HAL_SITL: Allow to use a second type of gps for all type
This commit is contained in:
Pierre Kancir
Francisco Ferreira
parent
e90c62ffc6
commit
f8d6b5fc9c
@ -103,28 +103,28 @@ private:
|
||||
|
||||
bool _gps_has_basestation_position;
|
||||
gps_data _gps_basestation_data;
|
||||
void _gps_write(const uint8_t *p, uint16_t size, uint8_t instance = 0);
|
||||
void _gps_write(const uint8_t *p, uint16_t size, uint8_t instance);
|
||||
void _gps_send_ubx(uint8_t msgid, uint8_t *buf, uint16_t size, uint8_t instance);
|
||||
void _update_gps_ubx(const struct gps_data *d, uint8_t instance);
|
||||
void _update_gps_mtk(const struct gps_data *d);
|
||||
void _update_gps_mtk16(const struct gps_data *d);
|
||||
void _update_gps_mtk19(const struct gps_data *d);
|
||||
void _update_gps_mtk(const struct gps_data *d, uint8_t instance);
|
||||
void _update_gps_mtk16(const struct gps_data *d, uint8_t instance);
|
||||
void _update_gps_mtk19(const struct gps_data *d, uint8_t instance);
|
||||
uint16_t _gps_nmea_checksum(const char *s);
|
||||
void _gps_nmea_printf(const char *fmt, ...);
|
||||
void _update_gps_nmea(const struct gps_data *d);
|
||||
void _sbp_send_message(uint16_t msg_type, uint16_t sender_id, uint8_t len, uint8_t *payload);
|
||||
void _update_gps_sbp(const struct gps_data *d);
|
||||
void _update_gps_sbp2(const struct gps_data *d);
|
||||
void _update_gps_file(const struct gps_data *d);
|
||||
void _update_gps_nova(const struct gps_data *d);
|
||||
void _nova_send_message(uint8_t *header, uint8_t headerlength, uint8_t *payload, uint8_t payloadlen);
|
||||
void _gps_nmea_printf(uint8_t instance, const char *fmt, ...);
|
||||
void _update_gps_nmea(const struct gps_data *d, uint8_t instance);
|
||||
void _sbp_send_message(uint16_t msg_type, uint16_t sender_id, uint8_t len, uint8_t *payload, uint8_t instance);
|
||||
void _update_gps_sbp(const struct gps_data *d, uint8_t instance);
|
||||
void _update_gps_sbp2(const struct gps_data *d, uint8_t instance);
|
||||
void _update_gps_file(uint8_t instance);
|
||||
void _update_gps_nova(const struct gps_data *d, uint8_t instance);
|
||||
void _nova_send_message(uint8_t *header, uint8_t headerlength, uint8_t *payload, uint8_t payloadlen, uint8_t instance);
|
||||
uint32_t CRC32Value(uint32_t icrc);
|
||||
uint32_t CalculateBlockCRC32(uint32_t length, uint8_t *buffer, uint32_t crc);
|
||||
|
||||
void _update_gps(double latitude, double longitude, float altitude,
|
||||
double speedN, double speedE, double speedD, bool have_lock);
|
||||
|
||||
void _update_ins(float airspeed);
|
||||
void _update_gps_instance(SITL::SITL::GPSType gps_type, const struct gps_data *d, uint8_t instance);
|
||||
void _check_rc_input(void);
|
||||
void _fdm_input_local(void);
|
||||
void _output_to_flightgear(void);
|
||||
|
||||
@ -391,7 +391,7 @@ static void mtk_checksum(const uint8_t *data, uint8_t n, uint8_t *ck_a, uint8_t
|
||||
/*
|
||||
send a new GPS MTK packet
|
||||
*/
|
||||
void SITL_State::_update_gps_mtk(const struct gps_data *d)
|
||||
void SITL_State::_update_gps_mtk(const struct gps_data *d, uint8_t instance)
|
||||
{
|
||||
struct PACKED mtk_msg {
|
||||
uint8_t preamble1;
|
||||
@ -442,13 +442,13 @@ void SITL_State::_update_gps_mtk(const struct gps_data *d)
|
||||
swap_uint32((uint32_t *)&p.utc_time, 1);
|
||||
mtk_checksum(&p.msg_class, sizeof(p)-4, &p.ck_a, &p.ck_b);
|
||||
|
||||
_gps_write((uint8_t*)&p, sizeof(p));
|
||||
_gps_write((uint8_t*)&p, sizeof(p), instance);
|
||||
}
|
||||
|
||||
/*
|
||||
send a new GPS MTK 1.6 packet
|
||||
*/
|
||||
void SITL_State::_update_gps_mtk16(const struct gps_data *d)
|
||||
void SITL_State::_update_gps_mtk16(const struct gps_data *d, uint8_t instance)
|
||||
{
|
||||
struct PACKED mtk_msg {
|
||||
uint8_t preamble1;
|
||||
@ -500,13 +500,13 @@ void SITL_State::_update_gps_mtk16(const struct gps_data *d)
|
||||
|
||||
mtk_checksum(&p.size, sizeof(p)-4, &p.ck_a, &p.ck_b);
|
||||
|
||||
_gps_write((uint8_t*)&p, sizeof(p));
|
||||
_gps_write((uint8_t*)&p, sizeof(p), instance);
|
||||
}
|
||||
|
||||
/*
|
||||
send a new GPS MTK 1.9 packet
|
||||
*/
|
||||
void SITL_State::_update_gps_mtk19(const struct gps_data *d)
|
||||
void SITL_State::_update_gps_mtk19(const struct gps_data *d, uint8_t instance)
|
||||
{
|
||||
struct PACKED mtk_msg {
|
||||
uint8_t preamble1;
|
||||
@ -558,7 +558,7 @@ void SITL_State::_update_gps_mtk19(const struct gps_data *d)
|
||||
|
||||
mtk_checksum(&p.size, sizeof(p)-4, &p.ck_a, &p.ck_b);
|
||||
|
||||
_gps_write((uint8_t*)&p, sizeof(p));
|
||||
_gps_write((uint8_t*)&p, sizeof(p), instance);
|
||||
}
|
||||
|
||||
/*
|
||||
@ -577,7 +577,7 @@ uint16_t SITL_State::_gps_nmea_checksum(const char *s)
|
||||
/*
|
||||
formatted print of NMEA message, with checksum appended
|
||||
*/
|
||||
void SITL_State::_gps_nmea_printf(const char *fmt, ...)
|
||||
void SITL_State::_gps_nmea_printf(uint8_t instance, const char *fmt, ...)
|
||||
{
|
||||
char *s = nullptr;
|
||||
uint16_t csum;
|
||||
@ -590,8 +590,8 @@ void SITL_State::_gps_nmea_printf(const char *fmt, ...)
|
||||
va_end(ap);
|
||||
csum = _gps_nmea_checksum(s);
|
||||
snprintf(trailer, sizeof(trailer), "*%02X\r\n", (unsigned)csum);
|
||||
_gps_write((const uint8_t*)s, strlen(s));
|
||||
_gps_write((const uint8_t*)trailer, 5);
|
||||
_gps_write((const uint8_t*)s, strlen(s), instance);
|
||||
_gps_write((const uint8_t*)trailer, 5, instance);
|
||||
free(s);
|
||||
}
|
||||
|
||||
@ -599,7 +599,7 @@ void SITL_State::_gps_nmea_printf(const char *fmt, ...)
|
||||
/*
|
||||
send a new GPS NMEA packet
|
||||
*/
|
||||
void SITL_State::_update_gps_nmea(const struct gps_data *d)
|
||||
void SITL_State::_update_gps_nmea(const struct gps_data *d, uint8_t instance)
|
||||
{
|
||||
struct timeval tv;
|
||||
struct tm *tm;
|
||||
@ -632,7 +632,7 @@ void SITL_State::_update_gps_nmea(const struct gps_data *d)
|
||||
(deg - int(deg))*60,
|
||||
d->longitude<0?'W':'E');
|
||||
|
||||
_gps_nmea_printf("$GPGGA,%s,%s,%s,%01d,%02d,%04.1f,%07.2f,M,0.0,M,,",
|
||||
_gps_nmea_printf(instance, "$GPGGA,%s,%s,%s,%01d,%02d,%04.1f,%07.2f,M,0.0,M,,",
|
||||
tstring,
|
||||
lat_string,
|
||||
lng_string,
|
||||
@ -645,7 +645,7 @@ void SITL_State::_update_gps_nmea(const struct gps_data *d)
|
||||
if (heading < 0) {
|
||||
heading += 360.0f;
|
||||
}
|
||||
_gps_nmea_printf("$GPRMC,%s,%c,%s,%s,%.2f,%.2f,%s,,",
|
||||
_gps_nmea_printf(instance, "$GPRMC,%s,%c,%s,%s,%.2f,%.2f,%s,,",
|
||||
tstring,
|
||||
d->have_lock?'A':'V',
|
||||
lat_string,
|
||||
@ -655,19 +655,19 @@ void SITL_State::_update_gps_nmea(const struct gps_data *d)
|
||||
dstring);
|
||||
}
|
||||
|
||||
void SITL_State::_sbp_send_message(uint16_t msg_type, uint16_t sender_id, uint8_t len, uint8_t *payload)
|
||||
void SITL_State::_sbp_send_message(uint16_t msg_type, uint16_t sender_id, uint8_t len, uint8_t *payload, uint8_t instance)
|
||||
{
|
||||
if (len != 0 && payload == 0) {
|
||||
return; //SBP_NULL_ERROR;
|
||||
}
|
||||
|
||||
uint8_t preamble = 0x55;
|
||||
_gps_write(&preamble, 1);
|
||||
_gps_write((uint8_t*)&msg_type, 2);
|
||||
_gps_write((uint8_t*)&sender_id, 2);
|
||||
_gps_write(&len, 1);
|
||||
_gps_write(&preamble, 1, instance);
|
||||
_gps_write((uint8_t*)&msg_type, 2, instance);
|
||||
_gps_write((uint8_t*)&sender_id, 2, instance);
|
||||
_gps_write(&len, 1, instance);
|
||||
if (len > 0) {
|
||||
_gps_write((uint8_t*)payload, len);
|
||||
_gps_write((uint8_t*)payload, len, instance);
|
||||
}
|
||||
|
||||
uint16_t crc;
|
||||
@ -675,10 +675,10 @@ void SITL_State::_sbp_send_message(uint16_t msg_type, uint16_t sender_id, uint8_
|
||||
crc = crc16_ccitt((uint8_t*)&(sender_id), 2, crc);
|
||||
crc = crc16_ccitt(&(len), 1, crc);
|
||||
crc = crc16_ccitt(payload, len, crc);
|
||||
_gps_write((uint8_t*)&crc, 2);
|
||||
_gps_write((uint8_t*)&crc, 2, instance);
|
||||
}
|
||||
|
||||
void SITL_State::_update_gps_sbp(const struct gps_data *d)
|
||||
void SITL_State::_update_gps_sbp(const struct gps_data *d, uint8_t instance)
|
||||
{
|
||||
struct sbp_heartbeat_t {
|
||||
bool sys_error : 1;
|
||||
@ -741,7 +741,7 @@ void SITL_State::_update_gps_sbp(const struct gps_data *d)
|
||||
t.tow = time_week_ms;
|
||||
t.ns = 0;
|
||||
t.flags = 0;
|
||||
_sbp_send_message(SBP_GPS_TIME_MSGTYPE, 0x2222, sizeof(t), (uint8_t*)&t);
|
||||
_sbp_send_message(SBP_GPS_TIME_MSGTYPE, 0x2222, sizeof(t), (uint8_t*)&t, instance);
|
||||
|
||||
if (!d->have_lock) {
|
||||
return;
|
||||
@ -757,10 +757,10 @@ void SITL_State::_update_gps_sbp(const struct gps_data *d)
|
||||
|
||||
// Send single point position solution
|
||||
pos.flags = 0;
|
||||
_sbp_send_message(SBP_POS_LLH_MSGTYPE, 0x2222, sizeof(pos), (uint8_t*)&pos);
|
||||
_sbp_send_message(SBP_POS_LLH_MSGTYPE, 0x2222, sizeof(pos), (uint8_t*)&pos, instance);
|
||||
// Send "pseudo-absolute" RTK position solution
|
||||
pos.flags = 1;
|
||||
_sbp_send_message(SBP_POS_LLH_MSGTYPE, 0x2222, sizeof(pos), (uint8_t*)&pos);
|
||||
_sbp_send_message(SBP_POS_LLH_MSGTYPE, 0x2222, sizeof(pos), (uint8_t*)&pos, instance);
|
||||
|
||||
velned.tow = time_week_ms;
|
||||
velned.n = 1e3 * d->speedN;
|
||||
@ -770,7 +770,7 @@ void SITL_State::_update_gps_sbp(const struct gps_data *d)
|
||||
velned.v_accuracy = 5e3;
|
||||
velned.n_sats = _sitl->gps_numsats;
|
||||
velned.flags = 0;
|
||||
_sbp_send_message(SBP_VEL_NED_MSGTYPE, 0x2222, sizeof(velned), (uint8_t*)&velned);
|
||||
_sbp_send_message(SBP_VEL_NED_MSGTYPE, 0x2222, sizeof(velned), (uint8_t*)&velned, instance);
|
||||
|
||||
static uint32_t do_every_count = 0;
|
||||
if (do_every_count % 5 == 0) {
|
||||
@ -783,18 +783,18 @@ void SITL_State::_update_gps_sbp(const struct gps_data *d)
|
||||
dops.vdop = 1;
|
||||
dops.flags = 1;
|
||||
_sbp_send_message(SBP_DOPS_MSGTYPE, 0x2222, sizeof(dops),
|
||||
(uint8_t*)&dops);
|
||||
(uint8_t*)&dops, instance);
|
||||
|
||||
hb.protocol_major = 0; //Sends protocol version 0
|
||||
_sbp_send_message(SBP_HEARTBEAT_MSGTYPE, 0x2222, sizeof(hb),
|
||||
(uint8_t*)&hb);
|
||||
(uint8_t*)&hb, instance);
|
||||
|
||||
}
|
||||
do_every_count++;
|
||||
}
|
||||
|
||||
|
||||
void SITL_State::_update_gps_sbp2(const struct gps_data *d)
|
||||
void SITL_State::_update_gps_sbp2(const struct gps_data *d, uint8_t instance)
|
||||
{
|
||||
struct sbp_heartbeat_t {
|
||||
bool sys_error : 1;
|
||||
@ -858,7 +858,7 @@ void SITL_State::_update_gps_sbp2(const struct gps_data *d)
|
||||
t.tow = time_week_ms;
|
||||
t.ns = 0;
|
||||
t.flags = 1;
|
||||
_sbp_send_message(SBP_GPS_TIME_MSGTYPE, 0x2222, sizeof(t), (uint8_t*)&t);
|
||||
_sbp_send_message(SBP_GPS_TIME_MSGTYPE, 0x2222, sizeof(t), (uint8_t*)&t, instance);
|
||||
|
||||
if (!d->have_lock) {
|
||||
return;
|
||||
@ -874,10 +874,10 @@ void SITL_State::_update_gps_sbp2(const struct gps_data *d)
|
||||
|
||||
// Send single point position solution
|
||||
pos.flags = 1;
|
||||
_sbp_send_message(SBP_POS_LLH_MSGTYPE, 0x2222, sizeof(pos), (uint8_t*)&pos);
|
||||
_sbp_send_message(SBP_POS_LLH_MSGTYPE, 0x2222, sizeof(pos), (uint8_t*)&pos, instance);
|
||||
// Send "pseudo-absolute" RTK position solution
|
||||
pos.flags = 4;
|
||||
_sbp_send_message(SBP_POS_LLH_MSGTYPE, 0x2222, sizeof(pos), (uint8_t*)&pos);
|
||||
_sbp_send_message(SBP_POS_LLH_MSGTYPE, 0x2222, sizeof(pos), (uint8_t*)&pos, instance);
|
||||
|
||||
velned.tow = time_week_ms;
|
||||
velned.n = 1e3 * d->speedN;
|
||||
@ -887,7 +887,7 @@ void SITL_State::_update_gps_sbp2(const struct gps_data *d)
|
||||
velned.v_accuracy = 5e3;
|
||||
velned.n_sats = _sitl->gps_numsats;
|
||||
velned.flags = 1;
|
||||
_sbp_send_message(SBP_VEL_NED_MSGTYPE, 0x2222, sizeof(velned), (uint8_t*)&velned);
|
||||
_sbp_send_message(SBP_VEL_NED_MSGTYPE, 0x2222, sizeof(velned), (uint8_t*)&velned, instance);
|
||||
|
||||
static uint32_t do_every_count = 0;
|
||||
if (do_every_count % 5 == 0) {
|
||||
@ -900,17 +900,16 @@ void SITL_State::_update_gps_sbp2(const struct gps_data *d)
|
||||
dops.vdop = 1;
|
||||
dops.flags = 1;
|
||||
_sbp_send_message(SBP_DOPS_MSGTYPE, 0x2222, sizeof(dops),
|
||||
(uint8_t*)&dops);
|
||||
(uint8_t*)&dops, instance);
|
||||
|
||||
hb.protocol_major = 2; //Sends protocol version 2.0
|
||||
_sbp_send_message(SBP_HEARTBEAT_MSGTYPE, 0x2222, sizeof(hb),
|
||||
(uint8_t*)&hb);
|
||||
|
||||
(uint8_t*)&hb, instance);
|
||||
}
|
||||
do_every_count++;
|
||||
}
|
||||
|
||||
void SITL_State::_update_gps_nova(const struct gps_data *d)
|
||||
void SITL_State::_update_gps_nova(const struct gps_data *d, uint8_t instance)
|
||||
{
|
||||
static struct PACKED nova_header
|
||||
{
|
||||
@ -1013,7 +1012,7 @@ void SITL_State::_update_gps_nova(const struct gps_data *d)
|
||||
|
||||
psrdop.hdop = 1.20;
|
||||
psrdop.htdop = 1.20;
|
||||
_nova_send_message((uint8_t*)&header,sizeof(header),(uint8_t*)&psrdop, sizeof(psrdop));
|
||||
_nova_send_message((uint8_t*)&header,sizeof(header),(uint8_t*)&psrdop, sizeof(psrdop), instance);
|
||||
|
||||
|
||||
header.messageid = 99;
|
||||
@ -1024,7 +1023,7 @@ void SITL_State::_update_gps_nova(const struct gps_data *d)
|
||||
bestvel.trkgnd = ToDeg(atan2f(d->speedE, d->speedN));
|
||||
bestvel.vertspd = -d->speedD;
|
||||
|
||||
_nova_send_message((uint8_t*)&header,sizeof(header),(uint8_t*)&bestvel, sizeof(bestvel));
|
||||
_nova_send_message((uint8_t*)&header,sizeof(header),(uint8_t*)&bestvel, sizeof(bestvel), instance);
|
||||
|
||||
|
||||
header.messageid = 42;
|
||||
@ -1041,18 +1040,18 @@ void SITL_State::_update_gps_nova(const struct gps_data *d)
|
||||
bestpos.solstat=0;
|
||||
bestpos.postype=32;
|
||||
|
||||
_nova_send_message((uint8_t*)&header,sizeof(header),(uint8_t*)&bestpos, sizeof(bestpos));
|
||||
_nova_send_message((uint8_t*)&header,sizeof(header),(uint8_t*)&bestpos, sizeof(bestpos), instance);
|
||||
}
|
||||
|
||||
void SITL_State::_nova_send_message(uint8_t *header, uint8_t headerlength, uint8_t *payload, uint8_t payloadlen)
|
||||
void SITL_State::_nova_send_message(uint8_t *header, uint8_t headerlength, uint8_t *payload, uint8_t payloadlen, uint8_t instance)
|
||||
{
|
||||
_gps_write(header, headerlength);
|
||||
_gps_write(payload, payloadlen);
|
||||
_gps_write(header, headerlength, instance);
|
||||
_gps_write(payload, payloadlen, instance);
|
||||
|
||||
uint32_t crc = CalculateBlockCRC32(headerlength, header, (uint32_t)0);
|
||||
crc = CalculateBlockCRC32(payloadlen, payload, crc);
|
||||
|
||||
_gps_write((uint8_t*)&crc, 4);
|
||||
_gps_write((uint8_t*)&crc, 4, instance);
|
||||
}
|
||||
|
||||
#define CRC32_POLYNOMIAL 0xEDB88320L
|
||||
@ -1082,24 +1081,35 @@ uint32_t SITL_State::CalculateBlockCRC32(uint32_t length, uint8_t *buffer, uint3
|
||||
/*
|
||||
temporary method to use file as GPS data
|
||||
*/
|
||||
void SITL_State::_update_gps_file(const struct gps_data *d)
|
||||
void SITL_State::_update_gps_file(uint8_t instance)
|
||||
{
|
||||
static int fd = -1;
|
||||
if (fd == -1) {
|
||||
fd = open("/tmp/gps.dat", O_RDONLY|O_CLOEXEC);
|
||||
static int fd2 = -1;
|
||||
int temp_fd;
|
||||
if (instance == 0) {
|
||||
if (fd == -1) {
|
||||
fd = open("/tmp/gps.dat", O_RDONLY|O_CLOEXEC);
|
||||
}
|
||||
temp_fd = fd;
|
||||
} else {
|
||||
if (fd2 == -1) {
|
||||
fd2 = open("/tmp/gps2.dat", O_RDONLY|O_CLOEXEC);
|
||||
}
|
||||
temp_fd = fd2;
|
||||
}
|
||||
if (fd == -1) {
|
||||
|
||||
if (temp_fd == -1) {
|
||||
return;
|
||||
}
|
||||
char buf[200];
|
||||
ssize_t ret = ::read(fd, buf, sizeof(buf));
|
||||
ssize_t ret = ::read(temp_fd, buf, sizeof(buf));
|
||||
if (ret > 0) {
|
||||
::printf("wrote gps %u bytes\n", (unsigned)ret);
|
||||
_gps_write((const uint8_t *)buf, ret);
|
||||
_gps_write((const uint8_t *)buf, ret, instance);
|
||||
}
|
||||
if (ret == 0) {
|
||||
::printf("gps rewind\n");
|
||||
lseek(fd, 0, SEEK_SET);
|
||||
lseek(temp_fd, 0, SEEK_SET);
|
||||
}
|
||||
}
|
||||
|
||||
@ -1224,48 +1234,55 @@ void SITL_State::_update_gps(double latitude, double longitude, float altitude,
|
||||
d2.longitude += glitch_offsets.y;
|
||||
d2.altitude += glitch_offsets.z;
|
||||
|
||||
switch ((SITL::SITL::GPSType)_sitl->gps_type.get()) {
|
||||
case SITL::SITL::GPS_TYPE_NONE:
|
||||
// no GPS attached
|
||||
break;
|
||||
if (gps_state.gps_fd != 0) {
|
||||
_update_gps_instance((SITL::SITL::GPSType)_sitl->gps_type.get(), &d, 0);
|
||||
}
|
||||
if (gps2_state.gps_fd != 0) {
|
||||
_update_gps_instance((SITL::SITL::GPSType)_sitl->gps2_type.get(), &d2, 1);
|
||||
}
|
||||
}
|
||||
|
||||
case SITL::SITL::GPS_TYPE_UBLOX:
|
||||
_update_gps_ubx(&d, 0);
|
||||
_update_gps_ubx(&d2, 1);
|
||||
break;
|
||||
void SITL_State::_update_gps_instance(SITL::SITL::GPSType gps_type, const struct gps_data *data, uint8_t instance) {
|
||||
switch (gps_type) {
|
||||
case SITL::SITL::GPS_TYPE_NONE:
|
||||
// no GPS attached
|
||||
break;
|
||||
|
||||
case SITL::SITL::GPS_TYPE_MTK:
|
||||
_update_gps_mtk(&d);
|
||||
break;
|
||||
case SITL::SITL::GPS_TYPE_UBLOX:
|
||||
_update_gps_ubx(data, instance);
|
||||
break;
|
||||
|
||||
case SITL::SITL::GPS_TYPE_MTK16:
|
||||
_update_gps_mtk16(&d);
|
||||
break;
|
||||
case SITL::SITL::GPS_TYPE_MTK:
|
||||
_update_gps_mtk(data, instance);
|
||||
break;
|
||||
|
||||
case SITL::SITL::GPS_TYPE_MTK19:
|
||||
_update_gps_mtk19(&d);
|
||||
break;
|
||||
case SITL::SITL::GPS_TYPE_MTK16:
|
||||
_update_gps_mtk16(data, instance);
|
||||
break;
|
||||
|
||||
case SITL::SITL::GPS_TYPE_NMEA:
|
||||
_update_gps_nmea(&d);
|
||||
break;
|
||||
case SITL::SITL::GPS_TYPE_MTK19:
|
||||
_update_gps_mtk19(data, instance);
|
||||
break;
|
||||
|
||||
case SITL::SITL::GPS_TYPE_SBP:
|
||||
_update_gps_sbp(&d);
|
||||
break;
|
||||
case SITL::SITL::GPS_TYPE_NMEA:
|
||||
_update_gps_nmea(data, instance);
|
||||
break;
|
||||
|
||||
case SITL::SITL::GPS_TYPE_SBP2:
|
||||
_update_gps_sbp2(&d);
|
||||
break;
|
||||
case SITL::SITL::GPS_TYPE_SBP:
|
||||
_update_gps_sbp(data, instance);
|
||||
break;
|
||||
|
||||
case SITL::SITL::GPS_TYPE_NOVA:
|
||||
_update_gps_nova(&d);
|
||||
break;
|
||||
case SITL::SITL::GPS_TYPE_SBP2:
|
||||
_update_gps_sbp2(data, instance);
|
||||
break;
|
||||
|
||||
case SITL::SITL::GPS_TYPE_FILE:
|
||||
_update_gps_file(&d);
|
||||
break;
|
||||
case SITL::SITL::GPS_TYPE_NOVA:
|
||||
_update_gps_nova(data, instance);
|
||||
break;
|
||||
|
||||
case SITL::SITL::GPS_TYPE_FILE:
|
||||
_update_gps_file(instance);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@ -91,6 +91,7 @@ const AP_Param::GroupInfo SITL::var_info[] = {
|
||||
AP_GROUPINFO("GPS_NOISE", 58, SITL, gps_noise, 0),
|
||||
AP_GROUPINFO("GP2_GLITCH", 59, SITL, gps2_glitch, 0),
|
||||
AP_GROUPINFO("ENGINE_FAIL", 60, SITL, engine_fail, 0),
|
||||
AP_GROUPINFO("GPS2_TYPE", 61, SITL, gps2_type, SITL::GPS_TYPE_UBLOX),
|
||||
AP_GROUPEND
|
||||
};
|
||||
|
||||
|
||||
@ -98,6 +98,7 @@ public:
|
||||
AP_Int8 gps2_enable; // enable 2nd simulated GPS
|
||||
AP_Int8 gps_delay; // delay in samples
|
||||
AP_Int8 gps_type; // see enum GPSType
|
||||
AP_Int8 gps2_type; // see enum GPSType
|
||||
AP_Float gps_byteloss;// byte loss as a percent
|
||||
AP_Int8 gps_numsats; // number of visible satellites
|
||||
AP_Vector3f gps_glitch; // glitch offsets in lat, lon and altitude
|
||||
|
||||
Loading…
Reference in New Issue
Block a user