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add iris_dual_gps config and the possibility of testing GPS blending through simulation

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TSC21
2020-06-16 09:57:05 +01:00
committed by Nuno Marques
parent 39b803a9dc
commit 6add0fff7f
5 changed files with 33 additions and 4 deletions
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src/modules/simulator/simulator.h
+2 -1
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@@ -248,7 +248,8 @@ private:
uORB::Publication<input_rc_s> _input_rc_pub{ORB_ID(input_rc)};
// HIL GPS
uORB::Publication<vehicle_gps_position_s> _vehicle_gps_position_pub{ORB_ID(vehicle_gps_position)};
uORB::PublicationMulti<vehicle_gps_position_s> *_vehicle_gps_position_pubs[ORB_MULTI_MAX_INSTANCES] {};
uint8_t _gps_ids[ORB_MULTI_MAX_INSTANCES] {};
std::default_random_engine _gen{};
// uORB subscription handlers