mirror of https://github.com/ArduPilot/ardupilot
69 lines
2.4 KiB
C++
69 lines
2.4 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/// @file GPS_Glitch.h
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/// @brief GPS Glitch protection
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#ifndef __GPS_GLITCH_H__
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#define __GPS_GLITCH_H__
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#include <AP_HAL.h>
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#include <inttypes.h>
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#include <AP_Progmem.h>
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#include <AP_Math.h>
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#include <AP_GPS.h>
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#define GPS_GLITCH_ACCEL_MAX_CMSS 1000.0f // vehicle can accelerate at up to 5m/s/s in any direction
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#define GPS_GLITCH_RADIUS_CM 200.0f // gps movement within 2m of current position are always ok
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/// @class GPS_Glitch
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/// @brief GPS Glitch protection class
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class GPS_Glitch
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{
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public:
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// constructor
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GPS_Glitch(GPS*& gps);
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// check_position - checks latest gps position against last know position, velocity and maximum acceleration and updates glitching flag
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void check_position();
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// enable - enable or disable gps sanity checking
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void enable(bool true_or_false) { _enabled = true_or_false; }
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// enabled - returns true if glitch detection is enabled
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bool enabled() const { return _enabled; }
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// glitching - returns true if we are experiencing a glitch
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bool glitching() const { return _flags.glitching; }
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// last_good_update - returns system time of the last good update
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uint32_t last_good_update() const { return _last_good_update; }
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// class level parameters
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static const struct AP_Param::GroupInfo var_info[];
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private:
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/// external dependencies
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GPS*& _gps; // pointer to gps
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/// structure for holding flags
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struct GPS_Glitch_flags {
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uint8_t initialised : 1; // 1 if we have received at least one good gps lock
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uint8_t glitching : 1; // 1 if we are experiencing a gps glitch
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} _flags;
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// parameters
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AP_Int8 _enabled; // top level enable/disable control
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AP_Float _radius_cm; // radius in cm within which all new positions from GPS are accepted
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AP_Float _accel_max_cmss; // vehicles maximum acceleration in cm/s/s
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// gps sanity check variables
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uint32_t _last_good_update; // system time of last gps update that passed checks
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int32_t _last_good_lat; // last good latitude reported by the gps
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int32_t _last_good_lon; // last good longitude reported by the gps
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Vector2f _last_good_vel; // last good velocity reported by the gps in cm/s in lat and lon directions
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};
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#endif // __GPS_H__
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