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save gps data so driver can read

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tumbili
2015-06-03 21:47:44 +02:00
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_mavlink.cpp
+25
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@@ -188,6 +188,25 @@ void Simulator::update_sensors(struct sensor_combined_s *sensor, mavlink_hil_sen
write_baro_data((void *)&baro);
}
void Simulator::update_gps(mavlink_hil_gps_t *gps_sim) {
RawGPSData gps;
gps.lat = gps_sim->lat;
gps.lon = gps_sim->lon;
gps.alt = gps_sim->alt;
gps.eph = gps_sim->eph;
gps.epv = gps_sim->epv;
gps.vel = gps_sim->vel;
gps.vn = gps_sim->vn;
gps.ve = gps_sim->ve;
gps.vd = gps_sim->vd;
gps.cog = gps_sim->cog;
gps.fix_type = gps_sim->fix_type;
gps.satellites_visible = gps_sim->satellites_visible;
write_gps_data((void *)&gps);
}
void Simulator::handle_message(mavlink_message_t *msg) {
switch(msg->msgid) {
case MAVLINK_MSG_ID_HIL_SENSOR:
@@ -196,6 +215,12 @@ void Simulator::handle_message(mavlink_message_t *msg) {
update_sensors(&_sensor, &imu);
break;
case MAVLINK_MSG_ID_HIL_GPS:
mavlink_hil_gps_t gps_sim;
mavlink_msg_hil_gps_decode(msg, &gps_sim);
update_gps(&gps_sim);
break;
case MAVLINK_MSG_ID_RC_CHANNELS:
mavlink_rc_channels_t rc_channels;