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Simulation of the GPS_USE_LATLONG flag (using the latlong_utm_of conversion

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function)
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Pascal Brisset
2008-07-09 17:20:36 +00:00
parent 0a86006310
commit dae0d37d93
1 changed files with 15 additions and 3 deletions
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sw/airborne/sim/sim_gps.c
+15 -3
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@@ -10,6 +10,8 @@
#include "autopilot.h"
#include "gps.h"
#include "estimator.h"
#include "latlong.h"
#include "common_nav.h"
#include <caml/mlvalues.h>
@@ -32,16 +34,26 @@ uint16_t gps_reset;
value sim_use_gps_pos(value x, value y, value z, value c, value a, value s, value cl, value t, value m, value lat, value lon) {
gps_mode = (Bool_val(m) ? 3 : 0);
gps_utm_east = Int_val(x);
gps_utm_north = Int_val(y);
gps_utm_zone = Int_val(z);
gps_course = DegOfRad(Double_val(c)) * 10.;
gps_alt = Double_val(a) * 100.;
gps_gspeed = Double_val(s) * 100.;
gps_climb = Double_val(cl) * 100.;
gps_itow = Double_val(t) * 1000.;
#ifdef GPS_USE_LATLONG
gps_lat = DegOfRad(Double_val(lat))*1e7;
gps_lon = DegOfRad(Double_val(lon))*1e7;
latlong_utm_of(RadOfDeg(gps_lat/1e7), RadOfDeg(gps_lon/1e7), nav_utm_zone0);
gps_utm_east = latlong_utm_x * 100;
gps_utm_north = latlong_utm_y * 100;
gps_utm_zone = nav_utm_zone0;
x = y = z; /* Just to get rid of the "unused arg" warning */
#else // GPS_USE_LATLONG
gps_utm_east = Int_val(x);
gps_utm_north = Int_val(y);
gps_utm_zone = Int_val(z);
#endif // GPS_USE_LATLONG
/** Space vehicle info simulation */
gps_nb_channels=7;