forked from Archive/PX4-Autopilot
move fake GPS to standalone module
This commit is contained in:
Daniel Agar
GitHub
parent
0ea8104344
commit
414f9f81d9
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@ -87,6 +87,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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#hwtest # Hardware test
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@ -110,6 +110,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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hwtest # Hardware test
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@ -114,6 +114,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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#fake_gps
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#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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#hello
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#hwtest # Hardware test
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@ -112,6 +112,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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#fake_gps
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#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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#hello
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#hwtest # Hardware test
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@ -106,6 +106,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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hwtest # Hardware test
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@ -83,6 +83,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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dyn_hello # dynamically loading modules example
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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@ -114,6 +114,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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hwtest # Hardware test
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@ -117,6 +117,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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hwtest # Hardware test
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@ -118,6 +118,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fake_magnetometer
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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@ -118,6 +118,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fake_magnetometer
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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@ -117,6 +117,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fake_magnetometer
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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@ -117,6 +117,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fake_magnetometer
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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@ -84,6 +84,7 @@ px4_add_board(
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work_queue
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EXAMPLES
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dyn_hello # dynamically loading modules example
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fake_gps
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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#hwtest # Hardware test
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@ -115,6 +115,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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hwtest # Hardware test
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@ -122,6 +122,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fake_magnetometer
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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@ -92,6 +92,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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#fake_gps
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#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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#hello
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#hwtest # Hardware test
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@ -91,6 +91,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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#fake_gps
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#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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#hello
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#hwtest # Hardware test
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@ -109,6 +109,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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hwtest # Hardware test
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@ -114,6 +114,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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hwtest # Hardware test
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@ -114,6 +114,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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hwtest # Hardware test
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@ -115,6 +115,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fake_magnetometer
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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@ -116,6 +116,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fake_magnetometer
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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@ -112,6 +112,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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hwtest # Hardware test
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@ -111,6 +111,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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hwtest # Hardware test
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@ -110,6 +110,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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hwtest # Hardware test
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@ -111,6 +111,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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hwtest # Hardware test
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@ -111,6 +111,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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hwtest # Hardware test
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@ -110,6 +110,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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hwtest # Hardware test
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@ -98,6 +98,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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#fake_gps
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#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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#hello
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#hwtest # Hardware test
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@ -128,6 +128,7 @@ px4_add_board(
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#ver
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#work_queue
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EXAMPLES
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#fake_gps
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#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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#hello
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#hwtest # Hardware test
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@ -113,6 +113,7 @@ px4_add_board(
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work_queue
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EXAMPLES
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#fake_gps
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#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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#hello
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#hwtest # Hardware test
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@ -79,5 +79,4 @@ px4_add_board(
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usb_connected
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ver
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work_queue
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)
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@ -121,6 +121,7 @@ px4_add_board(
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ver
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#work_queue
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EXAMPLES
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#fake_gps
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#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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#hello
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#hwtest # Hardware test
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@ -127,6 +127,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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hwtest # Hardware test
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@ -125,6 +125,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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hwtest # Hardware test
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@ -121,6 +121,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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hwtest # Hardware test
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@ -117,6 +117,7 @@ px4_add_board(
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work_queue
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EXAMPLES
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#fake_gps
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#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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#hello
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#hwtest # Hardware test
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@ -124,6 +124,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fake_gyro
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fake_magnetometer
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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@ -123,6 +123,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fake_gyro
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fake_magnetometer
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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@ -117,6 +117,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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hwtest # Hardware test
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@ -116,6 +116,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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#fake_gps
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#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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#hello
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#hwtest # Hardware test
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@ -119,6 +119,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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hwtest # Hardware test
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@ -116,6 +116,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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hwtest # Hardware test
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@ -118,6 +118,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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hwtest # Hardware test
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@ -127,6 +127,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fake_gyro
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fake_magnetometer
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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@ -123,6 +123,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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#fake_gps
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#fake_magnetometer
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#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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#hello
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@ -125,6 +125,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fake_gyro
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fake_magnetometer
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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@ -119,6 +119,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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hwtest # Hardware test
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@ -119,6 +119,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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hwtest # Hardware test
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@ -123,6 +123,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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#fake_gps
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#fake_magnetometer
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#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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#hello
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@ -126,6 +126,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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#fake_gps
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#fake_gyro
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#fake_magnetometer
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#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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@ -119,6 +119,7 @@ px4_add_board(
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work_queue
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serial_test
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EXAMPLES
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fake_gps
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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hwtest # Hardware test
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@ -122,6 +122,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_gps
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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hwtest # Hardware test
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@ -122,6 +122,7 @@ px4_add_board(
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work_queue
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serial_test
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||||
EXAMPLES
|
||||
fake_gps
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
|
|
|
|||
|
|
@ -122,6 +122,7 @@ px4_add_board(
|
|||
work_queue
|
||||
serial_test
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
|
|
|
|||
|
|
@ -120,6 +120,7 @@ px4_add_board(
|
|||
work_queue
|
||||
serial_test
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
|
|
|
|||
|
|
@ -83,6 +83,7 @@ px4_add_board(
|
|||
ver
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
dyn_hello # dynamically loading modules example
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
|
|
|
|||
|
|
@ -87,6 +87,7 @@ px4_add_board(
|
|||
work_queue
|
||||
EXAMPLES
|
||||
dyn_hello # dynamically loading modules example
|
||||
fake_gps
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
|
|
|
|||
|
|
@ -85,6 +85,7 @@ px4_add_board(
|
|||
work_queue
|
||||
EXAMPLES
|
||||
dyn_hello # dynamically loading modules example
|
||||
fake_gps
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
|
|
|
|||
|
|
@ -85,6 +85,7 @@ px4_add_board(
|
|||
work_queue
|
||||
EXAMPLES
|
||||
dyn_hello # dynamically loading modules example
|
||||
fake_gps
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
|
|
|
|||
|
|
@ -84,6 +84,7 @@ px4_add_board(
|
|||
work_queue
|
||||
EXAMPLES
|
||||
dyn_hello # dynamically loading modules example
|
||||
fake_gps
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
|
|
|
|||
|
|
@ -83,6 +83,7 @@ px4_add_board(
|
|||
work_queue
|
||||
EXAMPLES
|
||||
dyn_hello # dynamically loading modules example
|
||||
fake_gps
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
|
|
|
|||
|
|
@ -84,6 +84,7 @@ px4_add_board(
|
|||
work_queue
|
||||
EXAMPLES
|
||||
dyn_hello # dynamically loading modules example
|
||||
fake_gps
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
#hwtest # Hardware test
|
||||
|
|
|
|||
|
|
@ -84,6 +84,7 @@ px4_add_board(
|
|||
work_queue
|
||||
EXAMPLES
|
||||
dyn_hello # dynamically loading modules example
|
||||
fake_gps
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
#hwtest # Hardware test
|
||||
|
|
|
|||
|
|
@ -103,8 +103,8 @@ public:
|
|||
Count
|
||||
};
|
||||
|
||||
GPS(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interface, bool fake_gps, bool enable_sat_info,
|
||||
Instance instance, unsigned configured_baudrate);
|
||||
GPS(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interface, bool enable_sat_info, Instance instance,
|
||||
unsigned configured_baudrate);
|
||||
~GPS() override;
|
||||
|
||||
/** @see ModuleBase */
|
||||
|
|
@ -175,8 +175,6 @@ private:
|
|||
unsigned _num_bytes_read{0}; ///< counter for number of read bytes from the UART (within update interval)
|
||||
unsigned _rate_reading{0}; ///< reading rate in B/s
|
||||
|
||||
const bool _fake_gps; ///< fake gps output
|
||||
|
||||
const Instance _instance;
|
||||
|
||||
uORB::Subscription _orb_inject_data_sub{ORB_ID(gps_inject_data)};
|
||||
|
|
@ -258,12 +256,11 @@ px4::atomic<GPS *> GPS::_secondary_instance{nullptr};
|
|||
extern "C" __EXPORT int gps_main(int argc, char *argv[]);
|
||||
|
||||
|
||||
GPS::GPS(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interface, bool fake_gps,
|
||||
bool enable_sat_info, Instance instance, unsigned configured_baudrate) :
|
||||
GPS::GPS(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interface, bool enable_sat_info,
|
||||
Instance instance, unsigned configured_baudrate) :
|
||||
_configured_baudrate(configured_baudrate),
|
||||
_mode(mode),
|
||||
_interface(interface),
|
||||
_fake_gps(fake_gps),
|
||||
_instance(instance)
|
||||
{
|
||||
/* store port name */
|
||||
|
|
@ -637,37 +634,35 @@ void GPS::dumpGpsData(uint8_t *data, size_t len, bool msg_to_gps_device)
|
|||
void
|
||||
GPS::run()
|
||||
{
|
||||
if (!_fake_gps) {
|
||||
/* open the serial port */
|
||||
_serial_fd = ::open(_port, O_RDWR | O_NOCTTY);
|
||||
/* open the serial port */
|
||||
_serial_fd = ::open(_port, O_RDWR | O_NOCTTY);
|
||||
|
||||
if (_serial_fd < 0) {
|
||||
PX4_ERR("GPS: failed to open serial port: %s err: %d", _port, errno);
|
||||
return;
|
||||
}
|
||||
if (_serial_fd < 0) {
|
||||
PX4_ERR("GPS: failed to open serial port: %s err: %d", _port, errno);
|
||||
return;
|
||||
}
|
||||
|
||||
#ifdef __PX4_LINUX
|
||||
|
||||
if (_interface == GPSHelper::Interface::SPI) {
|
||||
int spi_speed = 1000000; // make sure the bus speed is not too high (required on RPi)
|
||||
int status_value = ioctl(_serial_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed);
|
||||
if (_interface == GPSHelper::Interface::SPI) {
|
||||
int spi_speed = 1000000; // make sure the bus speed is not too high (required on RPi)
|
||||
int status_value = ioctl(_serial_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed);
|
||||
|
||||
if (status_value < 0) {
|
||||
PX4_ERR("SPI_IOC_WR_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
|
||||
return;
|
||||
}
|
||||
|
||||
status_value = ioctl(_serial_fd, SPI_IOC_RD_MAX_SPEED_HZ, &spi_speed);
|
||||
|
||||
if (status_value < 0) {
|
||||
PX4_ERR("SPI_IOC_RD_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
|
||||
return;
|
||||
}
|
||||
if (status_value < 0) {
|
||||
PX4_ERR("SPI_IOC_WR_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
|
||||
return;
|
||||
}
|
||||
|
||||
#endif /* __PX4_LINUX */
|
||||
status_value = ioctl(_serial_fd, SPI_IOC_RD_MAX_SPEED_HZ, &spi_speed);
|
||||
|
||||
if (status_value < 0) {
|
||||
PX4_ERR("SPI_IOC_RD_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
#endif /* __PX4_LINUX */
|
||||
|
||||
param_t handle = param_find("GPS_YAW_OFFSET");
|
||||
float heading_offset = 0.f;
|
||||
|
||||
|
|
@ -719,122 +714,89 @@ GPS::run()
|
|||
|
||||
/* loop handling received serial bytes and also configuring in between */
|
||||
while (!should_exit()) {
|
||||
if (_helper != nullptr) {
|
||||
delete (_helper);
|
||||
_helper = nullptr;
|
||||
}
|
||||
|
||||
if (_fake_gps) {
|
||||
_report_gps_pos.timestamp = hrt_absolute_time();
|
||||
_report_gps_pos.lat = (int32_t)47.378301e7f;
|
||||
_report_gps_pos.lon = (int32_t)8.538777e7f;
|
||||
_report_gps_pos.alt = (int32_t)1200e3f;
|
||||
_report_gps_pos.alt_ellipsoid = 10000;
|
||||
_report_gps_pos.s_variance_m_s = 0.5f;
|
||||
_report_gps_pos.c_variance_rad = 0.1f;
|
||||
_report_gps_pos.fix_type = 3;
|
||||
_report_gps_pos.eph = 0.8f;
|
||||
_report_gps_pos.epv = 1.2f;
|
||||
_report_gps_pos.hdop = 0.9f;
|
||||
_report_gps_pos.vdop = 0.9f;
|
||||
_report_gps_pos.vel_n_m_s = 0.0f;
|
||||
_report_gps_pos.vel_e_m_s = 0.0f;
|
||||
_report_gps_pos.vel_d_m_s = 0.0f;
|
||||
_report_gps_pos.vel_m_s = 0.0f;
|
||||
_report_gps_pos.cog_rad = 0.0f;
|
||||
_report_gps_pos.vel_ned_valid = true;
|
||||
_report_gps_pos.satellites_used = 10;
|
||||
_report_gps_pos.heading = NAN;
|
||||
_report_gps_pos.heading_offset = NAN;
|
||||
switch (_mode) {
|
||||
case GPS_DRIVER_MODE_NONE:
|
||||
_mode = GPS_DRIVER_MODE_UBX;
|
||||
|
||||
/* no time and satellite information simulated */
|
||||
|
||||
|
||||
publish();
|
||||
|
||||
px4_usleep(200000);
|
||||
|
||||
} else {
|
||||
|
||||
if (_helper != nullptr) {
|
||||
delete (_helper);
|
||||
_helper = nullptr;
|
||||
}
|
||||
|
||||
switch (_mode) {
|
||||
case GPS_DRIVER_MODE_NONE:
|
||||
_mode = GPS_DRIVER_MODE_UBX;
|
||||
|
||||
/* FALLTHROUGH */
|
||||
case GPS_DRIVER_MODE_UBX:
|
||||
_helper = new GPSDriverUBX(_interface, &GPS::callback, this, &_report_gps_pos, _p_report_sat_info,
|
||||
gps_ubx_dynmodel, heading_offset, ubx_mode);
|
||||
break;
|
||||
/* FALLTHROUGH */
|
||||
case GPS_DRIVER_MODE_UBX:
|
||||
_helper = new GPSDriverUBX(_interface, &GPS::callback, this, &_report_gps_pos, _p_report_sat_info,
|
||||
gps_ubx_dynmodel, heading_offset, ubx_mode);
|
||||
break;
|
||||
#ifndef CONSTRAINED_FLASH
|
||||
|
||||
case GPS_DRIVER_MODE_MTK:
|
||||
_helper = new GPSDriverMTK(&GPS::callback, this, &_report_gps_pos);
|
||||
break;
|
||||
case GPS_DRIVER_MODE_MTK:
|
||||
_helper = new GPSDriverMTK(&GPS::callback, this, &_report_gps_pos);
|
||||
break;
|
||||
|
||||
case GPS_DRIVER_MODE_ASHTECH:
|
||||
_helper = new GPSDriverAshtech(&GPS::callback, this, &_report_gps_pos, _p_report_sat_info, heading_offset);
|
||||
break;
|
||||
case GPS_DRIVER_MODE_ASHTECH:
|
||||
_helper = new GPSDriverAshtech(&GPS::callback, this, &_report_gps_pos, _p_report_sat_info, heading_offset);
|
||||
break;
|
||||
|
||||
case GPS_DRIVER_MODE_EMLIDREACH:
|
||||
_helper = new GPSDriverEmlidReach(&GPS::callback, this, &_report_gps_pos, _p_report_sat_info);
|
||||
break;
|
||||
case GPS_DRIVER_MODE_EMLIDREACH:
|
||||
_helper = new GPSDriverEmlidReach(&GPS::callback, this, &_report_gps_pos, _p_report_sat_info);
|
||||
break;
|
||||
#endif // CONSTRAINED_FLASH
|
||||
|
||||
default:
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
_baudrate = _configured_baudrate;
|
||||
GPSHelper::GPSConfig gpsConfig{};
|
||||
gpsConfig.output_mode = GPSHelper::OutputMode::GPS;
|
||||
gpsConfig.gnss_systems = static_cast<GPSHelper::GNSSSystemsMask>(gnssSystemsParam);
|
||||
|
||||
if (_helper && _helper->configure(_baudrate, gpsConfig) == 0) {
|
||||
|
||||
/* reset report */
|
||||
memset(&_report_gps_pos, 0, sizeof(_report_gps_pos));
|
||||
_report_gps_pos.heading = NAN;
|
||||
_report_gps_pos.heading_offset = heading_offset;
|
||||
|
||||
if (_mode == GPS_DRIVER_MODE_UBX) {
|
||||
|
||||
/* GPS is obviously detected successfully, reset statistics */
|
||||
_helper->resetUpdateRates();
|
||||
}
|
||||
|
||||
_baudrate = _configured_baudrate;
|
||||
GPSHelper::GPSConfig gpsConfig{};
|
||||
gpsConfig.output_mode = GPSHelper::OutputMode::GPS;
|
||||
gpsConfig.gnss_systems = static_cast<GPSHelper::GNSSSystemsMask>(gnssSystemsParam);
|
||||
int helper_ret;
|
||||
|
||||
if (_helper && _helper->configure(_baudrate, gpsConfig) == 0) {
|
||||
while ((helper_ret = _helper->receive(TIMEOUT_5HZ)) > 0 && !should_exit()) {
|
||||
|
||||
/* reset report */
|
||||
memset(&_report_gps_pos, 0, sizeof(_report_gps_pos));
|
||||
_report_gps_pos.heading = NAN;
|
||||
_report_gps_pos.heading_offset = heading_offset;
|
||||
if (helper_ret & 1) {
|
||||
publish();
|
||||
|
||||
if (_mode == GPS_DRIVER_MODE_UBX) {
|
||||
last_rate_count++;
|
||||
}
|
||||
|
||||
/* GPS is obviously detected successfully, reset statistics */
|
||||
if (_p_report_sat_info && (helper_ret & 2)) {
|
||||
publishSatelliteInfo();
|
||||
}
|
||||
|
||||
reset_if_scheduled();
|
||||
|
||||
/* measure update rate every 5 seconds */
|
||||
if (hrt_absolute_time() - last_rate_measurement > RATE_MEASUREMENT_PERIOD) {
|
||||
float dt = (float)((hrt_absolute_time() - last_rate_measurement)) / 1000000.0f;
|
||||
_rate = last_rate_count / dt;
|
||||
_rate_rtcm_injection = _last_rate_rtcm_injection_count / dt;
|
||||
_rate_reading = _num_bytes_read / dt;
|
||||
last_rate_measurement = hrt_absolute_time();
|
||||
last_rate_count = 0;
|
||||
_last_rate_rtcm_injection_count = 0;
|
||||
_num_bytes_read = 0;
|
||||
_helper->storeUpdateRates();
|
||||
_helper->resetUpdateRates();
|
||||
}
|
||||
|
||||
int helper_ret;
|
||||
|
||||
while ((helper_ret = _helper->receive(TIMEOUT_5HZ)) > 0 && !should_exit()) {
|
||||
|
||||
if (helper_ret & 1) {
|
||||
publish();
|
||||
|
||||
last_rate_count++;
|
||||
}
|
||||
|
||||
if (_p_report_sat_info && (helper_ret & 2)) {
|
||||
publishSatelliteInfo();
|
||||
}
|
||||
|
||||
reset_if_scheduled();
|
||||
|
||||
/* measure update rate every 5 seconds */
|
||||
if (hrt_absolute_time() - last_rate_measurement > RATE_MEASUREMENT_PERIOD) {
|
||||
float dt = (float)((hrt_absolute_time() - last_rate_measurement)) / 1000000.0f;
|
||||
_rate = last_rate_count / dt;
|
||||
_rate_rtcm_injection = _last_rate_rtcm_injection_count / dt;
|
||||
_rate_reading = _num_bytes_read / dt;
|
||||
last_rate_measurement = hrt_absolute_time();
|
||||
last_rate_count = 0;
|
||||
_last_rate_rtcm_injection_count = 0;
|
||||
_num_bytes_read = 0;
|
||||
_helper->storeUpdateRates();
|
||||
_helper->resetUpdateRates();
|
||||
}
|
||||
|
||||
if (!_healthy) {
|
||||
// Helpful for debugging, but too verbose for normal ops
|
||||
if (!_healthy) {
|
||||
// Helpful for debugging, but too verbose for normal ops
|
||||
// const char *mode_str = "unknown";
|
||||
//
|
||||
// switch (_mode) {
|
||||
|
|
@ -859,46 +821,44 @@ GPS::run()
|
|||
// }
|
||||
//
|
||||
// PX4_WARN("module found: %s", mode_str);
|
||||
_healthy = true;
|
||||
}
|
||||
}
|
||||
|
||||
if (_healthy) {
|
||||
_healthy = false;
|
||||
_rate = 0.0f;
|
||||
_rate_rtcm_injection = 0.0f;
|
||||
_healthy = true;
|
||||
}
|
||||
}
|
||||
|
||||
if (_mode_auto) {
|
||||
switch (_mode) {
|
||||
case GPS_DRIVER_MODE_UBX:
|
||||
if (_healthy) {
|
||||
_healthy = false;
|
||||
_rate = 0.0f;
|
||||
_rate_rtcm_injection = 0.0f;
|
||||
}
|
||||
}
|
||||
|
||||
if (_mode_auto) {
|
||||
switch (_mode) {
|
||||
case GPS_DRIVER_MODE_UBX:
|
||||
#ifndef CONSTRAINED_FLASH
|
||||
_mode = GPS_DRIVER_MODE_MTK;
|
||||
break;
|
||||
_mode = GPS_DRIVER_MODE_MTK;
|
||||
break;
|
||||
|
||||
case GPS_DRIVER_MODE_MTK:
|
||||
_mode = GPS_DRIVER_MODE_ASHTECH;
|
||||
break;
|
||||
case GPS_DRIVER_MODE_MTK:
|
||||
_mode = GPS_DRIVER_MODE_ASHTECH;
|
||||
break;
|
||||
|
||||
case GPS_DRIVER_MODE_ASHTECH:
|
||||
_mode = GPS_DRIVER_MODE_EMLIDREACH;
|
||||
break;
|
||||
case GPS_DRIVER_MODE_ASHTECH:
|
||||
_mode = GPS_DRIVER_MODE_EMLIDREACH;
|
||||
break;
|
||||
|
||||
case GPS_DRIVER_MODE_EMLIDREACH:
|
||||
case GPS_DRIVER_MODE_EMLIDREACH:
|
||||
#endif // CONSTRAINED_FLASH
|
||||
_mode = GPS_DRIVER_MODE_UBX;
|
||||
px4_usleep(500000); // tried all possible drivers. Wait a bit before next round
|
||||
break;
|
||||
_mode = GPS_DRIVER_MODE_UBX;
|
||||
px4_usleep(500000); // tried all possible drivers. Wait a bit before next round
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
} else {
|
||||
px4_usleep(500000);
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
} else {
|
||||
px4_usleep(500000);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -927,33 +887,28 @@ GPS::print_status()
|
|||
break;
|
||||
}
|
||||
|
||||
//GPS Mode
|
||||
if (_fake_gps) {
|
||||
PX4_INFO("protocol: SIMULATED");
|
||||
|
||||
} else {
|
||||
switch (_mode) {
|
||||
case GPS_DRIVER_MODE_UBX:
|
||||
PX4_INFO("protocol: UBX");
|
||||
break;
|
||||
// GPS Mode
|
||||
switch (_mode) {
|
||||
case GPS_DRIVER_MODE_UBX:
|
||||
PX4_INFO("protocol: UBX");
|
||||
break;
|
||||
#ifndef CONSTRAINED_FLASH
|
||||
|
||||
case GPS_DRIVER_MODE_MTK:
|
||||
PX4_INFO("protocol: MTK");
|
||||
break;
|
||||
case GPS_DRIVER_MODE_MTK:
|
||||
PX4_INFO("protocol: MTK");
|
||||
break;
|
||||
|
||||
case GPS_DRIVER_MODE_ASHTECH:
|
||||
PX4_INFO("protocol: ASHTECH");
|
||||
break;
|
||||
case GPS_DRIVER_MODE_ASHTECH:
|
||||
PX4_INFO("protocol: ASHTECH");
|
||||
break;
|
||||
|
||||
case GPS_DRIVER_MODE_EMLIDREACH:
|
||||
PX4_INFO("protocol: EMLIDREACH");
|
||||
break;
|
||||
case GPS_DRIVER_MODE_EMLIDREACH:
|
||||
PX4_INFO("protocol: EMLIDREACH");
|
||||
break;
|
||||
#endif // CONSTRAINED_FLASH
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
PX4_INFO("status: %s, port: %s, baudrate: %d", _healthy ? "OK" : "NOT OK", _port, _baudrate);
|
||||
|
|
@ -966,10 +921,8 @@ GPS::print_status()
|
|||
PX4_INFO("rate velocity: \t\t%6.2f Hz", (double)_helper->getVelocityUpdateRate());
|
||||
}
|
||||
|
||||
if (!_fake_gps) {
|
||||
PX4_INFO("rate publication:\t\t%6.2f Hz", (double)_rate);
|
||||
PX4_INFO("rate RTCM injection:\t%6.2f Hz", (double)_rate_rtcm_injection);
|
||||
}
|
||||
PX4_INFO("rate publication:\t\t%6.2f Hz", (double)_rate);
|
||||
PX4_INFO("rate RTCM injection:\t%6.2f Hz", (double)_rate_rtcm_injection);
|
||||
|
||||
print_message(_report_gps_pos);
|
||||
}
|
||||
|
|
@ -1097,9 +1050,6 @@ There is a thread for each device polling for data. The GPS protocol classes are
|
|||
so that they can be used in other projects as well (eg. QGroundControl uses them too).
|
||||
|
||||
### Examples
|
||||
For testing it can be useful to fake a GPS signal (it will signal the system that it has a valid position):
|
||||
$ gps stop
|
||||
$ gps start -f
|
||||
|
||||
Starting 2 GPS devices (the main GPS on /dev/ttyS3 and the secondary on /dev/ttyS4):
|
||||
$ gps start -d /dev/ttyS3 -e /dev/ttyS4
|
||||
|
|
@ -1115,7 +1065,6 @@ $ gps reset warm
|
|||
PRINT_MODULE_USAGE_PARAM_STRING('e', nullptr, "<file:dev>", "Optional secondary GPS device", true);
|
||||
PRINT_MODULE_USAGE_PARAM_INT('g', 0, 0, 3000000, "Baudrate (secondary GPS, can also be p:<param_name>)", true);
|
||||
|
||||
PRINT_MODULE_USAGE_PARAM_FLAG('f', "Fake a GPS signal (useful for testing)", true);
|
||||
PRINT_MODULE_USAGE_PARAM_FLAG('s', "Enable publication of satellite info", true);
|
||||
|
||||
PRINT_MODULE_USAGE_PARAM_STRING('i', "uart", "spi|uart", "GPS interface", true);
|
||||
|
|
@ -1186,7 +1135,6 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
|
|||
const char *device_name_secondary = nullptr;
|
||||
int baudrate_main = 0;
|
||||
int baudrate_secondary = 0;
|
||||
bool fake_gps = false;
|
||||
bool enable_sat_info = false;
|
||||
GPSHelper::Interface interface = GPSHelper::Interface::UART;
|
||||
GPSHelper::Interface interface_secondary = GPSHelper::Interface::UART;
|
||||
|
|
@ -1197,7 +1145,7 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
|
|||
int ch;
|
||||
const char *myoptarg = nullptr;
|
||||
|
||||
while ((ch = px4_getopt(argc, argv, "b:d:e:fg:si:j:p:", &myoptind, &myoptarg)) != EOF) {
|
||||
while ((ch = px4_getopt(argc, argv, "b:d:e:g:si:j:p:", &myoptind, &myoptarg)) != EOF) {
|
||||
switch (ch) {
|
||||
case 'b':
|
||||
if (px4_get_parameter_value(myoptarg, baudrate_main) != 0) {
|
||||
|
|
@ -1220,10 +1168,6 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
|
|||
device_name_secondary = myoptarg;
|
||||
break;
|
||||
|
||||
case 'f':
|
||||
fake_gps = true;
|
||||
break;
|
||||
|
||||
case 's':
|
||||
enable_sat_info = true;
|
||||
break;
|
||||
|
|
@ -1290,7 +1234,7 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
|
|||
|
||||
GPS *gps;
|
||||
if (instance == Instance::Main) {
|
||||
gps = new GPS(device_name, mode, interface, fake_gps, enable_sat_info, instance, baudrate_main);
|
||||
gps = new GPS(device_name, mode, interface, enable_sat_info, instance, baudrate_main);
|
||||
|
||||
if (gps && device_name_secondary) {
|
||||
task_spawn(argc, argv, Instance::Secondary);
|
||||
|
|
@ -1308,7 +1252,7 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
|
|||
}
|
||||
}
|
||||
} else { // secondary instance
|
||||
gps = new GPS(device_name_secondary, mode, interface_secondary, fake_gps, enable_sat_info, instance, baudrate_secondary);
|
||||
gps = new GPS(device_name_secondary, mode, interface_secondary, enable_sat_info, instance, baudrate_secondary);
|
||||
}
|
||||
|
||||
return gps;
|
||||
|
|
|
|||
|
|
@ -0,0 +1,43 @@
|
|||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_module(
|
||||
MODULE modules__fake_gps
|
||||
MAIN fake_gps
|
||||
COMPILE_FLAGS
|
||||
SRCS
|
||||
FakeGps.cpp
|
||||
FakeGps.hpp
|
||||
DEPENDS
|
||||
px4_work_queue
|
||||
)
|
||||
|
|
@ -0,0 +1,140 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "FakeGps.hpp"
|
||||
|
||||
using namespace time_literals;
|
||||
|
||||
FakeGps::FakeGps(double latitude_deg, double longitude_deg, float altitude_m) :
|
||||
ModuleParams(nullptr),
|
||||
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default),
|
||||
_latitude(latitude_deg * 10e6),
|
||||
_longitude(longitude_deg * 10e6),
|
||||
_altitude(altitude_m * 10e2f)
|
||||
{
|
||||
}
|
||||
|
||||
bool FakeGps::init()
|
||||
{
|
||||
ScheduleOnInterval(SENSOR_INTERVAL_US);
|
||||
return true;
|
||||
}
|
||||
|
||||
void FakeGps::Run()
|
||||
{
|
||||
if (should_exit()) {
|
||||
ScheduleClear();
|
||||
exit_and_cleanup();
|
||||
return;
|
||||
}
|
||||
|
||||
sensor_gps_s sensor_gps{};
|
||||
sensor_gps.time_utc_usec = hrt_absolute_time() + 1613692609599954;
|
||||
sensor_gps.lat = _latitude;
|
||||
sensor_gps.lon = _longitude;
|
||||
sensor_gps.alt = _altitude;
|
||||
sensor_gps.alt_ellipsoid = _altitude;
|
||||
sensor_gps.s_variance_m_s = 0.3740f;
|
||||
sensor_gps.c_variance_rad = 0.6737f;
|
||||
sensor_gps.eph = 2.1060f;
|
||||
sensor_gps.epv = 3.8470f;
|
||||
sensor_gps.hdop = 0.8800f;
|
||||
sensor_gps.vdop = 1.3300f;
|
||||
sensor_gps.noise_per_ms = 101;
|
||||
sensor_gps.jamming_indicator = 35;
|
||||
sensor_gps.vel_m_s = 0.0420f;
|
||||
sensor_gps.vel_n_m_s = 0.0370f;
|
||||
sensor_gps.vel_e_m_s = 0.0200f;
|
||||
sensor_gps.vel_d_m_s = -0.0570f;
|
||||
sensor_gps.cog_rad = 0.3988f;
|
||||
sensor_gps.timestamp_time_relative = 0;
|
||||
sensor_gps.heading = NAN;
|
||||
sensor_gps.heading_offset = 0.0000;
|
||||
sensor_gps.fix_type = 4;
|
||||
sensor_gps.jamming_state = 0;
|
||||
sensor_gps.vel_ned_valid = true;
|
||||
sensor_gps.satellites_used = 14;
|
||||
sensor_gps.timestamp = hrt_absolute_time();
|
||||
_sensor_gps_pub.publish(sensor_gps);
|
||||
}
|
||||
|
||||
int FakeGps::task_spawn(int argc, char *argv[])
|
||||
{
|
||||
FakeGps *instance = new FakeGps();
|
||||
|
||||
if (instance) {
|
||||
_object.store(instance);
|
||||
_task_id = task_id_is_work_queue;
|
||||
|
||||
if (instance->init()) {
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
} else {
|
||||
PX4_ERR("alloc failed");
|
||||
}
|
||||
|
||||
delete instance;
|
||||
_object.store(nullptr);
|
||||
_task_id = -1;
|
||||
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
int FakeGps::custom_command(int argc, char *argv[])
|
||||
{
|
||||
return print_usage("unknown command");
|
||||
}
|
||||
|
||||
int FakeGps::print_usage(const char *reason)
|
||||
{
|
||||
if (reason) {
|
||||
PX4_WARN("%s\n", reason);
|
||||
}
|
||||
|
||||
PRINT_MODULE_DESCRIPTION(
|
||||
R"DESCR_STR(
|
||||
### Description
|
||||
|
||||
)DESCR_STR");
|
||||
|
||||
PRINT_MODULE_USAGE_NAME("fake_gps", "driver");
|
||||
PRINT_MODULE_USAGE_COMMAND("start");
|
||||
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||
return 0;
|
||||
}
|
||||
|
||||
extern "C" __EXPORT int fake_gps_main(int argc, char *argv[])
|
||||
{
|
||||
return FakeGps::main(argc, argv);
|
||||
}
|
||||
|
|
@ -0,0 +1,73 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <px4_platform_common/defines.h>
|
||||
#include <px4_platform_common/module.h>
|
||||
#include <px4_platform_common/module_params.h>
|
||||
#include <px4_platform_common/posix.h>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <uORB/PublicationMulti.hpp>
|
||||
#include <uORB/Subscription.hpp>
|
||||
#include <uORB/topics/sensor_gps.h>
|
||||
|
||||
class FakeGps : public ModuleBase<FakeGps>, public ModuleParams, public px4::ScheduledWorkItem
|
||||
{
|
||||
public:
|
||||
FakeGps(double latitude_deg = 29.6603018, double longitude_deg = -82.3160500, float altitude_m = 30.1f);
|
||||
|
||||
~FakeGps() override = default;
|
||||
|
||||
/** @see ModuleBase */
|
||||
static int task_spawn(int argc, char *argv[]);
|
||||
|
||||
/** @see ModuleBase */
|
||||
static int custom_command(int argc, char *argv[]);
|
||||
|
||||
/** @see ModuleBase */
|
||||
static int print_usage(const char *reason = nullptr);
|
||||
|
||||
bool init();
|
||||
|
||||
private:
|
||||
static constexpr uint32_t SENSOR_INTERVAL_US{1000000 / 5}; // 5 Hz
|
||||
|
||||
void Run() override;
|
||||
|
||||
uORB::PublicationMulti<sensor_gps_s> _sensor_gps_pub{ORB_ID(sensor_gps)};
|
||||
|
||||
int32_t _latitude{296603018}; // Latitude in 1e-7 degrees
|
||||
int32_t _longitude{-823160500}; // Longitude in 1e-7 degrees
|
||||
int32_t _altitude{30100}; // Altitude in 1e-3 meters above MSL, (millimetres)
|
||||
};
|
||||
Loading…
Reference in New Issue