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very simple gps fix fake in gps driver only for development

This commit is contained in:
Thomas Gubler 2014-01-10 22:38:12 +01:00
parent 6604d7b947
commit f205c07c08
1 changed files with 23 additions and 0 deletions
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23
src/drivers/gps/gps.cpp
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@ -294,6 +294,29 @@ GPS::task_main()
while (_Helper->receive(TIMEOUT_5HZ) > 0 && !_task_should_exit) { while (_Helper->receive(TIMEOUT_5HZ) > 0 && !_task_should_exit) {
// lock(); // lock();
/* opportunistic publishing - else invalid data would end up on the bus */ /* opportunistic publishing - else invalid data would end up on the bus */
//#define FAKEGPS
#ifdef FAKEGPS
_report.timestamp_position = hrt_absolute_time();
_report.lat = (int32_t)47.378301e7f;
_report.lon = (int32_t)8.538777e7f;
_report.alt = (int32_t)400e3f;
_report.timestamp_variance = hrt_absolute_time();
_report.s_variance_m_s = 10.0f;
_report.p_variance_m = 10.0f;
_report.c_variance_rad = 0.1f;
_report.fix_type = 3;
_report.eph_m = 10.0f;
_report.epv_m = 10.0f;
_report.timestamp_velocity = hrt_absolute_time();
_report.vel_n_m_s = 20.0f;
_report.vel_e_m_s = 0.0f;
_report.vel_d_m_s = 0.0f;
_report.vel_m_s = sqrtf(_report.vel_n_m_s * _report.vel_n_m_s + _report.vel_e_m_s * _report.vel_e_m_s + _report.vel_d_m_s * _report.vel_d_m_s);
_report.cog_rad = 0.0f;
_report.vel_ned_valid = true;
//no time and satellite information simulated
#endif
if (_report_pub > 0) { if (_report_pub > 0) {
orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report); orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);