ardupilot/libraries/AP_GPS/AP_GPS_HIL.cpp

66 lines
2.2 KiB
C++

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
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 <http://www.gnu.org/licenses/>.
*/
//
// Hardware in the loop gps class.
// Code by James Goppert
//
// GPS configuration : Custom protocol per "DIYDrones Custom Binary Sentence Specification V1.1"
//
#include <AP_HAL.h>
#include "AP_GPS_HIL.h"
extern const AP_HAL::HAL& hal;
// Public Methods //////////////////////////////////////////////////////////////
void AP_GPS_HIL::init(AP_HAL::UARTDriver *s, enum GPS_Engine_Setting nav_setting)
{
_port = s;
}
bool AP_GPS_HIL::read(void)
{
if ((hal.scheduler->millis() - last_fix_time) < 200) {
// simulate a 5Hz GPS
return false;
}
bool result = _updated;
// return true once for each update pushed in
new_data = true;
_updated = false;
return result;
}
void AP_GPS_HIL::setHIL(uint64_t _time_epoch_ms, float _latitude, float _longitude, float _altitude,
float _ground_speed, float _ground_course, float _speed_3d, uint8_t _num_sats)
{
time_week = _time_epoch_ms / (86400*7*(uint64_t)1000);
time_week_ms = _time_epoch_ms - time_week*(86400*7*(uint64_t)1000);
latitude = _latitude*1.0e7f;
longitude = _longitude*1.0e7f;
altitude_cm = _altitude*1.0e2f;
ground_speed_cm = _ground_speed*1.0e2f;
ground_course_cd = _ground_course*1.0e2f;
speed_3d_cm = _speed_3d*1.0e2f;
num_sats = _num_sats;
fix = num_sats>5?FIX_3D:FIX_NONE;
hdop = 200;
_updated = true;
}