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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-23 07:47:35 +08:00
move fake GPS to standalone module
This commit is contained in:
Daniel Agar
@@ -0,0 +1,43 @@
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############################################################################
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#
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# Copyright (c) 2021 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_module(
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MODULE modules__fake_gps
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MAIN fake_gps
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COMPILE_FLAGS
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SRCS
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FakeGps.cpp
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FakeGps.hpp
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DEPENDS
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px4_work_queue
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)
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@@ -0,0 +1,140 @@
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/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "FakeGps.hpp"
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using namespace time_literals;
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FakeGps::FakeGps(double latitude_deg, double longitude_deg, float altitude_m) :
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ModuleParams(nullptr),
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ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default),
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_latitude(latitude_deg * 10e6),
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_longitude(longitude_deg * 10e6),
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_altitude(altitude_m * 10e2f)
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{
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}
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bool FakeGps::init()
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{
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ScheduleOnInterval(SENSOR_INTERVAL_US);
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return true;
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}
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void FakeGps::Run()
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{
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if (should_exit()) {
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ScheduleClear();
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exit_and_cleanup();
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return;
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}
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sensor_gps_s sensor_gps{};
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sensor_gps.time_utc_usec = hrt_absolute_time() + 1613692609599954;
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sensor_gps.lat = _latitude;
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sensor_gps.lon = _longitude;
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sensor_gps.alt = _altitude;
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sensor_gps.alt_ellipsoid = _altitude;
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sensor_gps.s_variance_m_s = 0.3740f;
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sensor_gps.c_variance_rad = 0.6737f;
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sensor_gps.eph = 2.1060f;
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sensor_gps.epv = 3.8470f;
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sensor_gps.hdop = 0.8800f;
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sensor_gps.vdop = 1.3300f;
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sensor_gps.noise_per_ms = 101;
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sensor_gps.jamming_indicator = 35;
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sensor_gps.vel_m_s = 0.0420f;
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sensor_gps.vel_n_m_s = 0.0370f;
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sensor_gps.vel_e_m_s = 0.0200f;
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sensor_gps.vel_d_m_s = -0.0570f;
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sensor_gps.cog_rad = 0.3988f;
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sensor_gps.timestamp_time_relative = 0;
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sensor_gps.heading = NAN;
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sensor_gps.heading_offset = 0.0000;
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sensor_gps.fix_type = 4;
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sensor_gps.jamming_state = 0;
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sensor_gps.vel_ned_valid = true;
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sensor_gps.satellites_used = 14;
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sensor_gps.timestamp = hrt_absolute_time();
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_sensor_gps_pub.publish(sensor_gps);
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}
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int FakeGps::task_spawn(int argc, char *argv[])
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{
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FakeGps *instance = new FakeGps();
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if (instance) {
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_object.store(instance);
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_task_id = task_id_is_work_queue;
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if (instance->init()) {
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return PX4_OK;
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}
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} else {
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PX4_ERR("alloc failed");
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}
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delete instance;
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_object.store(nullptr);
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_task_id = -1;
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return PX4_ERROR;
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}
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int FakeGps::custom_command(int argc, char *argv[])
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{
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return print_usage("unknown command");
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}
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int FakeGps::print_usage(const char *reason)
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{
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if (reason) {
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PX4_WARN("%s\n", reason);
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}
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PRINT_MODULE_DESCRIPTION(
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R"DESCR_STR(
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### Description
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)DESCR_STR");
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PRINT_MODULE_USAGE_NAME("fake_gps", "driver");
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PRINT_MODULE_USAGE_COMMAND("start");
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PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
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return 0;
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}
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extern "C" __EXPORT int fake_gps_main(int argc, char *argv[])
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{
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return FakeGps::main(argc, argv);
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}
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@@ -0,0 +1,73 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
|
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* without specific prior written permission.
|
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/module_params.h>
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#include <px4_platform_common/posix.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/sensor_gps.h>
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class FakeGps : public ModuleBase<FakeGps>, public ModuleParams, public px4::ScheduledWorkItem
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{
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public:
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FakeGps(double latitude_deg = 29.6603018, double longitude_deg = -82.3160500, float altitude_m = 30.1f);
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~FakeGps() override = default;
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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bool init();
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private:
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static constexpr uint32_t SENSOR_INTERVAL_US{1000000 / 5}; // 5 Hz
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void Run() override;
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uORB::PublicationMulti<sensor_gps_s> _sensor_gps_pub{ORB_ID(sensor_gps)};
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int32_t _latitude{296603018}; // Latitude in 1e-7 degrees
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int32_t _longitude{-823160500}; // Longitude in 1e-7 degrees
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int32_t _altitude{30100}; // Altitude in 1e-3 meters above MSL, (millimetres)
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};
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