mirror of https://github.com/ArduPilot/ardupilot
58 lines
1.8 KiB
C++
58 lines
1.8 KiB
C++
#include "AP_DAL_GPS.h"
|
|
|
|
#include <AP_Logger/AP_Logger.h>
|
|
#include "AP_DAL.h"
|
|
|
|
AP_DAL_GPS::AP_DAL_GPS()
|
|
{
|
|
for (uint8_t i=0; i<ARRAY_SIZE(_RGPI); i++) {
|
|
_RGPI[i].instance = i;
|
|
_RGPJ[i].instance = i;
|
|
}
|
|
}
|
|
|
|
void AP_DAL_GPS::start_frame()
|
|
{
|
|
const auto &gps = AP::gps();
|
|
|
|
const log_RGPH old_RGPH = _RGPH;
|
|
_RGPH.primary_sensor = gps.primary_sensor();
|
|
_RGPH.num_sensors = gps.num_sensors();
|
|
|
|
WRITE_REPLAY_BLOCK_IFCHANGED(RGPH, _RGPH, old_RGPH);
|
|
|
|
for (uint8_t i=0; i<ARRAY_SIZE(_RGPI); i++) {
|
|
log_RGPI &RGPI = _RGPI[i];
|
|
log_RGPJ &RGPJ = _RGPJ[i];
|
|
const log_RGPI old_RGPI = RGPI;
|
|
const log_RGPJ old_RGPJ = RGPJ;
|
|
|
|
RGPI.status = (GPS_Status)gps.status(i);
|
|
RGPI.antenna_offset = gps.get_antenna_offset(i);
|
|
|
|
const Location &loc = gps.location(i);
|
|
RGPJ.last_message_time_ms = gps.last_message_time_ms(i);
|
|
RGPJ.lat = loc.lat;
|
|
RGPJ.lng = loc.lng;
|
|
RGPJ.alt = loc.alt;
|
|
RGPI.have_vertical_velocity = gps.have_vertical_velocity(i);
|
|
|
|
RGPI.horizontal_accuracy_returncode = gps.horizontal_accuracy(i, RGPJ.hacc);
|
|
RGPI.vertical_accuracy_returncode = gps.vertical_accuracy(i, RGPJ.vacc);
|
|
RGPJ.hdop = gps.get_hdop(i);
|
|
RGPI.num_sats = gps.num_sats(i);
|
|
RGPI.get_lag_returncode = gps.get_lag(i, RGPI.lag_sec);
|
|
|
|
RGPJ.velocity = gps.velocity(i);
|
|
RGPI.speed_accuracy_returncode = gps.speed_accuracy(i, RGPJ.sacc);
|
|
RGPI.gps_yaw_deg_returncode = gps.gps_yaw_deg(i, RGPJ.yaw_deg, RGPJ.yaw_accuracy_deg, RGPJ.yaw_deg_time_ms);
|
|
|
|
WRITE_REPLAY_BLOCK_IFCHANGED(RGPI, RGPI, old_RGPI);
|
|
WRITE_REPLAY_BLOCK_IFCHANGED(RGPJ, RGPJ, old_RGPJ);
|
|
|
|
tmp_location[i].lat = RGPJ.lat;
|
|
tmp_location[i].lng = RGPJ.lng;
|
|
tmp_location[i].alt = RGPJ.alt;
|
|
}
|
|
}
|