[nps] Fix jsbsim simulator initialisation and GPS accuracy

paparazzi · Mar 17, 2019 · 73de678 · 73de678
1 parent 7beee86
commit 73de678
Show file tree

Hide file tree

Showing 2 changed files with 11 additions and 1 deletion.
diff --git a/sw/airborne/subsystems/gps/gps_sim_nps.c b/sw/airborne/subsystems/gps/gps_sim_nps.c
@@ -75,6 +75,12 @@ void gps_feed_value(void)
 #endif
   SetBit(gps_nps.valid_fields, GPS_VALID_COURSE_BIT);
 
+  gps_nps.pacc = 650;
+  gps_nps.hacc = 450;
+  gps_nps.vacc = 200;
+  gps_nps.sacc = 100;
+  gps_nps.pdop = 650; 
+
   if (gps_has_fix) {
     gps_nps.num_sv = 11;
     gps_nps.fix = GPS_FIX_3D;

diff --git a/sw/simulator/nps/nps_fdm_jsbsim.cpp b/sw/simulator/nps/nps_fdm_jsbsim.cpp
@@ -180,6 +180,10 @@ void nps_fdm_init(double dt)
 
   FDMExec->RunIC();
 
+  // Fix getting initial incorrect accel measurements
+  for(uint16_t i = 0; i < 1500; i++)
+    FDMExec->Run();
+
   init_ltp();
 
 #if DEBUG_NPS_JSBSIM
@@ -679,7 +683,7 @@ static void init_ltp(void)
 
   /* Current date in decimal year, for example 2012.68 */
   /** @FIXME properly get current time */
-  double sdate = 2014.5;
+  double sdate = 2019.0;
 
   llh_from_jsbsim(&fdm.lla_pos, propagate);
   /* LLA Position in decimal degrees and altitude in km */