mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-02-08 07:14:08 +08:00
d1d4f95718
in preparation for making this an optional feature; a lot of people will want to go and put this in their hwdef files as soon as we do this!
100 lines
2.8 KiB
C++
100 lines
2.8 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 AP_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 == AP_GPS_FixType::NO_GPS) {
|
|
state.status = AP_GPS::NO_FIX;
|
|
} else {
|
|
state.status = (AP_GPS::GPS_Status)pkt.fix_type;
|
|
}
|
|
state.num_sats = pkt.satellites_in_view;
|
|
|
|
const Location loc {
|
|
pkt.latitude,
|
|
pkt.longitude,
|
|
pkt.msl_altitude,
|
|
Location::AltFrame::ABSOLUTE
|
|
};
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
|
if (!loc.initialised() && state.status >= AP_GPS::GPS_Status::GPS_OK_FIX_2D) {
|
|
AP_HAL::panic("Invalid location passed to AP_GPS_ExternalAHRS");
|
|
}
|
|
#endif
|
|
|
|
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;
|
|
|
|
velocity_to_speed_course(state);
|
|
|
|
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 // AP_EXTERNAL_AHRS_ENABLED
|
|
|