mirror of https://github.com/ArduPilot/ardupilot
154 lines
3.5 KiB
C++
154 lines
3.5 KiB
C++
#include "SIM_config.h"
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#if AP_SIM_GPS_NOVA_ENABLED
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#include "SIM_GPS_NOVA.h"
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#include <SITL/SITL.h>
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using namespace SITL;
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void GPS_NOVA::publish(const GPS_Data *d)
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{
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static struct PACKED nova_header
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{
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// 0
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uint8_t preamble[3];
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// 3
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uint8_t headerlength;
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// 4
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uint16_t messageid;
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// 6
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uint8_t messagetype;
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//7
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uint8_t portaddr;
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//8
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uint16_t messagelength;
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//10
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uint16_t sequence;
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//12
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uint8_t idletime;
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//13
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uint8_t timestatus;
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//14
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uint16_t week;
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//16
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uint32_t tow;
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//20
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uint32_t recvstatus;
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// 24
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uint16_t resv;
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//26
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uint16_t recvswver;
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} header;
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struct PACKED psrdop
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{
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float gdop;
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float pdop;
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float hdop;
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float htdop;
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float tdop;
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float cutoff;
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uint32_t svcount;
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// extra data for individual prns
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} psrdop {};
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struct PACKED bestpos
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{
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uint32_t solstat;
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uint32_t postype;
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double lat;
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double lng;
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double hgt;
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float undulation;
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uint32_t datumid;
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float latsdev;
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float lngsdev;
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float hgtsdev;
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// 4 bytes
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uint8_t stnid[4];
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float diffage;
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float sol_age;
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uint8_t svstracked;
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uint8_t svsused;
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uint8_t svsl1;
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uint8_t svsmultfreq;
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uint8_t resv;
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uint8_t extsolstat;
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uint8_t galbeisigmask;
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uint8_t gpsglosigmask;
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} bestpos {};
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struct PACKED bestvel
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{
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uint32_t solstat;
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uint32_t veltype;
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float latency;
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float age;
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double horspd;
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double trkgnd;
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// + up
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double vertspd;
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float resv;
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} bestvel {};
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const auto gps_tow = gps_time();
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header.preamble[0] = 0xaa;
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header.preamble[1] = 0x44;
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header.preamble[2] = 0x12;
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header.headerlength = sizeof(header);
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header.week = gps_tow.week;
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header.tow = gps_tow.ms;
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header.messageid = 174;
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header.messagelength = sizeof(psrdop);
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header.sequence += 1;
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psrdop.hdop = 1.20;
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psrdop.htdop = 1.20;
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nova_send_message((uint8_t*)&header,sizeof(header),(uint8_t*)&psrdop, sizeof(psrdop));
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header.messageid = 99;
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header.messagelength = sizeof(bestvel);
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header.sequence += 1;
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bestvel.horspd = norm(d->speedN, d->speedE);
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bestvel.trkgnd = ToDeg(atan2f(d->speedE, d->speedN));
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bestvel.vertspd = -d->speedD;
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nova_send_message((uint8_t*)&header,sizeof(header),(uint8_t*)&bestvel, sizeof(bestvel));
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header.messageid = 42;
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header.messagelength = sizeof(bestpos);
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header.sequence += 1;
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bestpos.lat = d->latitude;
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bestpos.lng = d->longitude;
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bestpos.hgt = d->altitude;
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bestpos.svsused = d->have_lock ? d->num_sats : 3;
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bestpos.latsdev=0.2;
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bestpos.lngsdev=0.2;
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bestpos.hgtsdev=0.2;
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bestpos.solstat=0;
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bestpos.postype=32;
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nova_send_message((uint8_t*)&header,sizeof(header),(uint8_t*)&bestpos, sizeof(bestpos));
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}
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void GPS_NOVA::nova_send_message(uint8_t *header, uint8_t headerlength, uint8_t *payload, uint8_t payloadlen)
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{
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write_to_autopilot((char*)header, headerlength);
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write_to_autopilot((char*)payload, payloadlen);
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uint32_t crc = crc_crc32((uint32_t)0, header, headerlength);
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crc = crc_crc32(crc, payload, payloadlen);
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write_to_autopilot((char*)&crc, 4);
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}
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#endif // AP_SIM_GPS_NOVA_ENABLED
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