mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 06:28:27 -04:00
07b27d76be
- checksum calculation was including header parts in CRC twice - need to send DOP message to make EKF happy - need to supply own number of satellites - must pad packets to a multiple of 4 bytes
30 lines
476 B
C++
30 lines
476 B
C++
#pragma once
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#include "SIM_config.h"
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#if AP_SIM_GPS_SBF_ENABLED
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#include "SIM_GPS.h"
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namespace SITL {
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class GPS_SBF : public GPS_Backend {
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public:
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CLASS_NO_COPY(GPS_SBF);
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using GPS_Backend::GPS_Backend;
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void publish(const GPS_Data *d) override;
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private:
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void send_sbf(uint16_t msgid, uint8_t *buf, uint16_t buf_size);
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void publish_PVTGeodetic(const GPS_Data *d);
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void publish_DOP(const GPS_Data *d);
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};
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};
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#endif // AP_SIM_GPS_SBF_ENABLED
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