fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-12 19:57:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Add airspeed sensor to sensor_simulator

Browse Source
This commit is contained in:
kamilritz
2020-01-09 15:46:34 +01:00
committed by Roman Bapst
parent 4044abdd20
commit 7ed6a437c7
23 changed files with 177 additions and 33 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/sensor_simulator/gps.cpp
+23 -1
View File
@@ -13,7 +13,7 @@ Gps::~Gps()
{
}
void Gps::send(uint32_t time)
void Gps::send(uint64_t time)
{
_gps_data.time_usec = time;
_ekf->setGpsData(time, _gps_data);
@@ -24,6 +24,28 @@ void Gps::setData(const gps_message& gps)
_gps_data = gps;
}
void Gps::setAltitude(int32_t alt)
{
_gps_data.alt = alt;
}
void Gps::setLatitude(int32_t lat)
{
_gps_data.lat = lat;
}
void Gps::setLongitude(int32_t lon)
{
_gps_data.lon = 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);
}
void Gps::stepHeightByMeters(float hgt_change)
{
_gps_data.alt += hgt_change * 1e3f;