-
Notifications
You must be signed in to change notification settings - Fork 1.1k
/
gps_sim_nps.c
96 lines (84 loc) · 3.13 KB
/
gps_sim_nps.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
/*
* Copyright (C) 2008-2011 The Paparazzi Team
*
* This file is part of paparazzi.
*
* paparazzi 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 2, or (at your option)
* any later version.
*
* paparazzi 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 paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
#include "subsystems/gps/gps_sim_nps.h"
#include "subsystems/gps.h"
#include "nps_sensors.h"
#include "nps_fdm.h"
#if GPS_USE_LATLONG
/* currently needed to get nav_utm_zone0 */
#include "subsystems/navigation/common_nav.h"
#include "math/pprz_geodetic_float.h"
#endif
bool_t gps_available;
bool_t gps_has_fix;
void gps_feed_value() {
// FIXME, set proper time instead of hardcoded to May 2014
gps.week = 1794;
gps.tow = fdm.time * 1000;
gps.ecef_pos.x = sensors.gps.ecef_pos.x * 100.;
gps.ecef_pos.y = sensors.gps.ecef_pos.y * 100.;
gps.ecef_pos.z = sensors.gps.ecef_pos.z * 100.;
gps.ecef_vel.x = sensors.gps.ecef_vel.x * 100.;
gps.ecef_vel.y = sensors.gps.ecef_vel.y * 100.;
gps.ecef_vel.z = sensors.gps.ecef_vel.z * 100.;
//ecef pos seems to be based on geocentric model, hence we get a very high alt when converted to lla
gps.lla_pos.lat = sensors.gps.lla_pos.lat * 1e7;
gps.lla_pos.lon = sensors.gps.lla_pos.lon * 1e7;
gps.lla_pos.alt = sensors.gps.lla_pos.alt * 1000.;
gps.hmsl = sensors.gps.hmsl * 1000.;
/* calc NED speed from ECEF */
struct LtpDef_d ref_ltp;
ltp_def_from_ecef_d(&ref_ltp, &sensors.gps.ecef_pos);
struct NedCoor_d ned_vel_d;
ned_of_ecef_vect_d(&ned_vel_d, &ref_ltp, &sensors.gps.ecef_vel);
gps.ned_vel.x = ned_vel_d.x * 100;
gps.ned_vel.y = ned_vel_d.y * 100;
gps.ned_vel.z = ned_vel_d.z * 100;
/* horizontal and 3d ground speed in cm/s */
gps.gspeed = sqrt(ned_vel_d.x * ned_vel_d.x + ned_vel_d.y * ned_vel_d.y) * 100;
gps.speed_3d = sqrt(ned_vel_d.x * ned_vel_d.x + ned_vel_d.y * ned_vel_d.y + ned_vel_d.z * ned_vel_d.z) * 100;
/* ground course in radians * 1e7 */
gps.course = atan2(ned_vel_d.y, ned_vel_d.x) * 1e7;
#if GPS_USE_LATLONG
/* Computes from (lat, long) in the referenced UTM zone */
struct LlaCoor_f lla_f;
lla_f.lat = ((float) gps.lla_pos.lat) / 1e7;
lla_f.lon = ((float) gps.lla_pos.lon) / 1e7;
struct UtmCoor_f utm_f;
utm_f.zone = nav_utm_zone0;
/* convert to utm */
utm_of_lla_f(&utm_f, &lla_f);
/* copy results of utm conversion */
gps.utm_pos.east = utm_f.east*100;
gps.utm_pos.north = utm_f.north*100;
gps.utm_pos.alt = gps.lla_pos.alt;
gps.utm_pos.zone = nav_utm_zone0;
#endif
if (gps_has_fix)
gps.fix = GPS_FIX_3D;
else
gps.fix = GPS_FIX_NONE;
gps_available = TRUE;
}
void gps_impl_init() {
gps_available = FALSE;
gps_has_fix = TRUE;
}