[nps] set gps week and tow

currently still hardcoded to May 2014, needs to be implemented properly
paparazzi · May 30, 2014 · af4736a · af4736a
1 parent 21e0a2b
commit af4736a
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Showing 3 changed files with 11 additions and 2 deletions.
diff --git a/sw/airborne/subsystems/gps/gps_sim_nps.c b/sw/airborne/subsystems/gps/gps_sim_nps.c
@@ -22,6 +22,9 @@
 #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"
@@ -32,6 +35,10 @@ 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.;

diff --git a/sw/airborne/subsystems/gps/gps_sim_nps.h b/sw/airborne/subsystems/gps/gps_sim_nps.h
@@ -1,7 +1,7 @@
 #ifndef GPS_SIM_NPS_H
 #define GPS_SIM_NPS_H
 
-#include "nps_sensors.h"
+#include "std.h"
 
 #define GPS_NB_CHANNELS 16
 

diff --git a/sw/simulator/nps/nps_fdm_jsbsim.c b/sw/simulator/nps/nps_fdm_jsbsim.c
@@ -490,7 +490,8 @@ static void init_ltp(void) {
   double gha[MAXCOEFF];
 
   /* Current date in decimal year, for example 2012.68 */
-  double sdate = 2012.68;
+  /** @FIXME properly get current time */
+  double sdate = 2014.5;
 
   llh_from_jsbsim(&fdm.lla_pos, propagate);
   /* LLA Position in decimal degrees and altitude in km */
@@ -505,6 +506,7 @@ static void init_ltp(void) {
            &fdm.ltp_h.x, &fdm.ltp_h.y, &fdm.ltp_h.z,
            IEXT, EXT_COEFF1, EXT_COEFF2, EXT_COEFF3);
   FLOAT_VECT3_NORMALIZE(fdm.ltp_h);
+  printf("normalized magnetic field: %.4f %.4f %.4f\n", fdm.ltp_h.x, fdm.ltp_h.y, fdm.ltp_h.z);
 #endif
 
 }