mirror of https://github.com/ArduPilot/ardupilot
53 lines
1.6 KiB
C++
53 lines
1.6 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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//
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// Hardware in the loop gps class.
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// Code by James Goppert
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//
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// This library is free software; you can redistribute it and / or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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//
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// GPS configuration : Custom protocol per "DIYDrones Custom Binary Sentence Specification V1.1"
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//
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#include <AP_HAL.h>
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#include "AP_GPS_HIL.h"
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// Constructors ////////////////////////////////////////////////////////////////
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AP_GPS_HIL::AP_GPS_HIL(AP_HAL::UARTDriver* s) : GPS(s)
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{
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}
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// Public Methods //////////////////////////////////////////////////////////////
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void AP_GPS_HIL::init(enum GPS_Engine_Setting nav_setting)
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{
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idleTimeout = 1200;
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}
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bool AP_GPS_HIL::read(void)
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{
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bool result = _updated;
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// return true once for each update pushed in
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_updated = false;
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return result;
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}
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void AP_GPS_HIL::setHIL(uint32_t _time, float _latitude, float _longitude, float _altitude,
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float _ground_speed, float _ground_course, float _speed_3d, uint8_t _num_sats)
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{
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time = _time;
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latitude = _latitude*1.0e7;
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longitude = _longitude*1.0e7;
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altitude = _altitude*1.0e2;
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ground_speed = _ground_speed*1.0e2;
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ground_course = _ground_course*1.0e2;
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speed_3d = _speed_3d*1.0e2;
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num_sats = _num_sats;
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fix = true;
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new_data = true;
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_updated = true;
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}
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