/* This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . */ // // MSP GPS driver // #include #include "AP_GPS_MSP.h" #if HAL_MSP_GPS_ENABLED AP_GPS_MSP::AP_GPS_MSP(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port) : AP_GPS_Backend(_gps, _state, _port) { } // Reading does nothing in this class; we simply return whether or not // the latest reading has been consumed. By calling this function we assume // the caller is consuming the new data; bool AP_GPS_MSP::read(void) { if (new_data) { new_data = false; return true; } return false; } // handles an incoming msp message and sets // corresponding gps data appropriately; void AP_GPS_MSP::handle_msp(const MSP::msp_gps_data_message_t &pkt) { check_new_itow(pkt.ms_tow, sizeof(pkt)); state.time_week = pkt.gps_week; state.time_week_ms = pkt.ms_tow; state.status = (AP_GPS::GPS_Status)pkt.fix_type; state.num_sats = pkt.satellites_in_view; Location loc = {}; loc.lat = pkt.latitude; loc.lng = pkt.longitude; loc.alt = pkt.msl_altitude; state.location = loc; state.hdop = pkt.hdop; state.vdop = GPS_UNKNOWN_DOP; state.have_vertical_velocity = true; Vector3f vel; vel.x = pkt.ned_vel_north * 0.01; vel.y = pkt.ned_vel_east * 0.01; vel.z = pkt.ned_vel_down * 0.01; state.velocity = vel; state.ground_course = wrap_360(degrees(atan2f(state.velocity.y, state.velocity.x))); state.ground_speed = norm(state.velocity.y, state.velocity.x); state.have_speed_accuracy = true; state.have_horizontal_accuracy = true; state.have_vertical_accuracy = true; state.have_vertical_velocity = true; state.horizontal_accuracy = pkt.horizontal_pos_accuracy * 0.01; state.vertical_accuracy = pkt.vertical_pos_accuracy * 0.01; state.speed_accuracy = pkt.horizontal_vel_accuracy * 0.01; state.last_gps_time_ms = AP_HAL::millis(); if (pkt.true_yaw != 65535) { state.gps_yaw = wrap_360(pkt.true_yaw*0.01); state.have_gps_yaw = true; state.gps_yaw_time_ms = state.last_gps_time_ms; } new_data = pkt.fix_type>0; } /* return velocity lag in seconds */ bool AP_GPS_MSP::get_lag(float &lag_sec) const { // measured on Matek M8Q lag_sec = 0.11; return true; } #endif // HAL_MSP_GPS_ENABLED