mirror of https://github.com/ArduPilot/ardupilot
75 lines
2.3 KiB
C++
75 lines
2.3 KiB
C++
#pragma once
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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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#pragma once
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#include "AP_GPS_config.h"
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#if AP_GPS_BLENDED_ENABLED
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#include "AP_GPS.h"
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#include "GPS_Backend.h"
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class AP_GPS_Blended : public AP_GPS_Backend
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{
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public:
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AP_GPS_Blended(AP_GPS &_gps, AP_GPS::Params &_params, AP_GPS::GPS_State &_state, class AP_GPS::GPS_timing &_timing) :
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AP_GPS_Backend(_gps, _params, _state, nullptr),
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timing{_timing}
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{ }
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// pre-arm check of GPS blending. False if blending is unhealthy,
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// True if healthy or blending is not being used
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bool is_healthy() const override {
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return (_blend_health_counter < 50);
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}
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bool read() override { return true; }
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const char *name() const override { return "Blended"; }
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bool get_lag(float &lag_sec) const override;
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const Vector3f &get_antenna_offset() const {
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return _blended_antenna_offset;
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}
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// calculate the blend weight. Returns true if blend could be
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// calculated, false if not
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bool calc_weights(void);
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// calculate the blended state
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void calc_state(void);
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void zero_health_counter() {
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_blend_health_counter = 0;
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}
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private:
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// GPS blending and switching
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Vector3f _blended_antenna_offset; // blended antenna offset
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float _blended_lag_sec; // blended receiver lag in seconds
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float _blend_weights[GPS_MAX_RECEIVERS]; // blend weight for each GPS. The blend weights must sum to 1.0 across all instances.
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bool _output_is_blended; // true when a blended GPS solution being output
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uint8_t _blend_health_counter; // 0 = perfectly health, 100 = very unhealthy
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AP_GPS::GPS_timing &timing;
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bool _calc_weights(void);
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};
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#endif // AP_GPS_BLENDED_ENABLED
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