ardupilot/libraries/AP_GPS/AP_GPS_ExternalAHRS.cpp

94 lines
2.7 KiB
C++

/*
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/>.
*/
//
// ExternalAHRS GPS driver
//
#include <AP_ExternalAHRS/AP_ExternalAHRS.h>
#include "AP_GPS_ExternalAHRS.h"
#if HAL_EXTERNAL_AHRS_ENABLED
// Reading does nothing in this class; we simply return whether or not
// the latest reading has been consumed. By calling this function we assume
// the caller is consuming the new data;
bool AP_GPS_ExternalAHRS::read(void)
{
if (new_data) {
new_data = false;
return true;
}
return false;
}
// handles an incoming ExternalAHRS message and sets
// corresponding gps data appropriately;
void AP_GPS_ExternalAHRS::handle_external(const AP_ExternalAHRS::gps_data_message_t &pkt)
{
check_new_itow(pkt.ms_tow, sizeof(pkt));
state.time_week = pkt.gps_week;
state.time_week_ms = pkt.ms_tow;
if (pkt.fix_type == 0) {
state.status = AP_GPS::NO_FIX;
} else {
state.status = (AP_GPS::GPS_Status)pkt.fix_type;
}
state.num_sats = pkt.satellites_in_view;
Location loc = {};
loc.lat = pkt.latitude;
loc.lng = pkt.longitude;
loc.alt = pkt.msl_altitude;
state.location = loc;
state.hdop = pkt.hdop;
state.vdop = pkt.vdop;
state.have_vertical_velocity = true;
state.velocity.x = pkt.ned_vel_north;
state.velocity.y = pkt.ned_vel_east;
state.velocity.z = pkt.ned_vel_down;
state.ground_course = wrap_360(degrees(atan2f(state.velocity.y, state.velocity.x)));
state.ground_speed = state.velocity.xy().length();
state.have_speed_accuracy = true;
state.have_horizontal_accuracy = true;
state.have_vertical_accuracy = true;
state.have_vertical_velocity = true;
state.horizontal_accuracy = pkt.horizontal_pos_accuracy;
state.vertical_accuracy = pkt.vertical_pos_accuracy;
state.speed_accuracy = pkt.horizontal_vel_accuracy;
state.last_gps_time_ms = AP_HAL::millis();
new_data = true;
}
/*
return velocity lag in seconds
*/
bool AP_GPS_ExternalAHRS::get_lag(float &lag_sec) const
{
// fixed assumed lag
lag_sec = 0.11;
return true;
}
#endif // HAL_EXTERNAL_AHRS_ENABLED