ekf2: move EKF out of ecl

src/modules/ekf2/test/sensor_simulator/gps.h

@@ -0,0 +1,79 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 ECL Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * Feeds Ekf with Gps data
+ * @author Kamil Ritz <ka.ritz@hotmail.com>
+ */
+#ifndef EKF_GPS_H
+#define EKF_GPS_H
+
+#include "sensor.h"
+
+namespace sensor_simulator
+{
+namespace sensor
+{
+
+class Gps: public Sensor
+{
+public:
+	Gps(std::shared_ptr<Ekf> ekf);
+	~Gps();
+
+	void setData(const gps_message &gps);
+	void stepHeightByMeters(const float hgt_change);
+	void stepHorizontalPositionByMeters(const Vector2f hpos_change);
+	void setPositionRateNED(const Vector3f &rate);
+	void setAltitude(const int32_t alt);
+	void setLatitude(const int32_t lat);
+	void setLongitude(const int32_t lon);
+	void setVelocity(const Vector3f &vel);
+	void setYaw(const float yaw);
+	void setYawOffset(const float yaw);
+	void setFixType(const int fix_type);
+	void setNumberOfSatellites(const int num_satellites);
+	void setPdop(const float pdop);
+
+	gps_message getDefaultGpsData();
+
+private:
+	void send(uint64_t time) override;
+
+	gps_message _gps_data{};
+	Vector3f _gps_pos_rate{};
+};
+
+} // namespace sensor
+} // namespace sensor_simulator
+#endif // EKF_GPS_H