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AP_HAL_SITL: Apply a GPS noise parameter

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Michael du Breuil 2017-01-30 12:04:37 -07:00 committed by Andrew Tridgell
parent ef0c51da42
commit c716e76bfc
1 changed files with 2 additions and 1 deletions
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libraries/AP_HAL_SITL/sitl_gps.cpp
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@ -1018,7 +1018,8 @@ void SITL_State::_update_gps(double latitude, double longitude, float altitude,
d.latitude = latitude + glitch_offsets.x; d.latitude = latitude + glitch_offsets.x;
d.longitude = longitude + glitch_offsets.y; d.longitude = longitude + glitch_offsets.y;
d.altitude = altitude + glitch_offsets.z; // add an altitude error controlled by a slow sine wave
d.altitude = altitude + glitch_offsets.z + _sitl->gps_noise * sinf(AP_HAL::millis() * 0.0005f);
// Add offet to c.g. velocity to get velocity at antenna // Add offet to c.g. velocity to get velocity at antenna
d.speedN = speedN; d.speedN = speedN;