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fix lla_pos in nps

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This commit is contained in:
Felix Ruess
2010-01-08 18:03:45 +00:00
parent cc621375ba
commit 3ef35e1185
2 changed files with 13 additions and 0 deletions
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sw/simulator/nps/nps_sensor_gps.c
+11
View File
@@ -73,6 +73,17 @@ void nps_sensor_gps_run_step(struct NpsSensorGps* gps, double time) {
UpdateSensorLatency(time, &cur_pos_reading, &gps->pos_history, gps->pos_latency, &gps->ecef_pos);
/*
* simulate lla pos
*/
/* convert current ecef reading to lla */
struct LlaCoor_d cur_lla_reading;
lla_of_ecef_d(&cur_lla_reading, (EcefCoor_d*) &cur_pos_reading);
/* store that for later and retrieve a previously stored data */
UpdateSensorLatency(time, &cur_lla_reading, &gps->lla_history, gps->pos_latency, &gps->lla_pos);
gps->next_update += NPS_GPS_DT;
gps->data_available = TRUE;
sw/simulator/nps/nps_sensor_gps.h
+2
View File
@@ -13,6 +13,7 @@
struct NpsSensorGps {
struct EcefCoor_d ecef_pos;
struct EcefCoor_d ecef_vel;
struct LlaCoor_d lla_pos;
struct DoubleVect3 pos_noise_std_dev;
struct DoubleVect3 speed_noise_std_dev;
struct DoubleVect3 pos_bias_initial;
@@ -21,6 +22,7 @@ struct NpsSensorGps {
double pos_latency;
double speed_latency;
GSList* pos_history;
GSList* lla_history;
GSList* speed_history;
double next_update;
bool_t data_available;