mirror of https://github.com/ArduPilot/ardupilot
66 lines
2.2 KiB
C++
66 lines
2.2 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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//
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// Hardware in the loop gps class.
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// Code by James Goppert
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//
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// GPS configuration : Custom protocol per "DIYDrones Custom Binary Sentence Specification V1.1"
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//
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#include <AP_HAL.h>
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#include "AP_GPS_HIL.h"
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extern const AP_HAL::HAL& hal;
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// Public Methods //////////////////////////////////////////////////////////////
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void AP_GPS_HIL::init(AP_HAL::UARTDriver *s, enum GPS_Engine_Setting nav_setting)
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{
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_port = s;
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}
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bool AP_GPS_HIL::read(void)
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{
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if ((hal.scheduler->millis() - last_fix_time) < 200) {
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// simulate a 5Hz GPS
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return false;
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}
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bool result = _updated;
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// return true once for each update pushed in
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new_data = true;
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_updated = false;
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return result;
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}
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void AP_GPS_HIL::setHIL(uint64_t _time_epoch_ms, float _latitude, float _longitude, float _altitude,
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float _ground_speed, float _ground_course, float _speed_3d, uint8_t _num_sats)
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{
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time_week = _time_epoch_ms / (86400*7*(uint64_t)1000);
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time_week_ms = _time_epoch_ms - time_week*(86400*7*(uint64_t)1000);
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latitude = _latitude*1.0e7f;
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longitude = _longitude*1.0e7f;
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altitude_cm = _altitude*1.0e2f;
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ground_speed_cm = _ground_speed*1.0e2f;
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ground_course_cd = _ground_course*1.0e2f;
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speed_3d_cm = _speed_3d*1.0e2f;
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num_sats = _num_sats;
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fix = num_sats>5?FIX_3D:FIX_NONE;
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hdop = 200;
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_updated = true;
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}
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