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save gps data so driver can read

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This commit is contained in:
tumbili
2015-06-08 22:21:59 -07:00
committed by Mark Charlebois
parent dc2dc9920f
commit 5c013af574
3 changed files with 56 additions and 0 deletions
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src/modules/simulator/simulator.h
+22
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@@ -98,6 +98,23 @@ struct RawBaroData {
};
#pragma pack(pop)
#pragma pack(push, 1)
struct RawGPSData {
int32_t lat;
int32_t lon;
int32_t alt;
uint16_t eph;
uint16_t epv;
uint16_t vel;
int16_t vn;
int16_t ve;
int16_t vd;
uint16_t cog;
uint8_t fix_type;
uint8_t satellites_visible;
};
#pragma pack(pop)
template <typename RType> class Report {
public:
Report(int readers) :
@@ -177,11 +194,13 @@ public:
bool getMagReport(uint8_t *buf, int len);
bool getMPUReport(uint8_t *buf, int len);
bool getBaroSample(uint8_t *buf, int len);
bool getGPSSample(uint8_t *buf, int len);
void write_MPU_data(void *buf);
void write_accel_data(void *buf);
void write_mag_data(void *buf);
void write_baro_data(void *buf);
void write_gps_data(void *buf);
private:
Simulator() :
@@ -189,6 +208,7 @@ private:
_mpu(1),
_baro(1),
_mag(1),
_gps(1),
_sensor_combined_pub(nullptr)
#ifndef __PX4_QURT
,
@@ -216,6 +236,7 @@ private:
simulator::Report<simulator::RawMPUData> _mpu;
simulator::Report<simulator::RawBaroData> _baro;
simulator::Report<simulator::RawMagData> _mag;
simulator::Report<simulator::RawGPSData> _gps;
// uORB publisher handlers
orb_advert_t _accel_pub;
@@ -258,6 +279,7 @@ private:
void pack_actuator_message(mavlink_hil_controls_t &actuator_msg);
void send_mavlink_message(const uint8_t msgid, const void *msg, uint8_t component_ID);
void update_sensors(struct sensor_combined_s *sensor, mavlink_hil_sensor_t *imu);
void update_gps(mavlink_hil_gps_t *gps_sim);
static void *sending_trampoline(void *);
void send();
#endif