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Update gps interface

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This commit is contained in:
kamilritz
2020-01-21 14:45:31 +01:00
committed by Paul Riseborough
parent a19c29e708
commit 74ec80cdc7
5 changed files with 17 additions and 19 deletions
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test/sensor_simulator/gps.cpp
+3 -7
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@@ -16,7 +16,7 @@ Gps::~Gps()
void Gps::send(uint64_t time)
{
_gps_data.time_usec = time;
_ekf->setGpsData(time, _gps_data);
_ekf->setGpsData(_gps_data);
}
void Gps::setData(const gps_message& gps)
@@ -41,9 +41,7 @@ void Gps::setLongitude(int32_t lon)
void Gps::setVelocity(const Vector3f& vel)
{
_gps_data.vel_ned[0] = vel(0);
_gps_data.vel_ned[1] = vel(1);
_gps_data.vel_ned[2] = vel(2);
_gps_data.vel_ned = vel;
}
void Gps::stepHeightByMeters(float hgt_change)
@@ -79,9 +77,7 @@ gps_message Gps::getDefaultGpsData()
gps_data.epv = 0.8f;
gps_data.sacc = 0.2f;
gps_data.vel_m_s = 0.0;
gps_data.vel_ned[0] = 0.0f;
gps_data.vel_ned[1] = 0.0f;
gps_data.vel_ned[2] = 0.0f;
gps_data.vel_ned.setZero();
gps_data.vel_ned_valid = 1;
gps_data.nsats = 16;
gps_data.pdop = 0.0f;