fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-16 21:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

vehicle_gps_position: use timestamp field instead of timestamp_position

Browse Source 
timestamp was unused. This allows to remove timestamp_position.
This commit is contained in:
Beat Küng
2016-06-24 00:22:01 +02:00
committed by Lorenz Meier
parent bf0b3c1585
commit 89f5bd27e8
15 changed files with 37 additions and 38 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/platforms/posix/drivers/gpssim/gpssim.cpp
+9 -9
View File
@@ -278,14 +278,14 @@ GPSSIM::receive(int timeout)
simulator::RawGPSData gps;
sim->getGPSSample((uint8_t *)&gps, sizeof(gps));
_report_gps_pos.timestamp_position = hrt_absolute_time();
_report_gps_pos.timestamp = hrt_absolute_time();
_report_gps_pos.lat = gps.lat;
_report_gps_pos.lon = gps.lon;
_report_gps_pos.alt = gps.alt;
_report_gps_pos.timestamp_variance = _report_gps_pos.timestamp_position;
_report_gps_pos.timestamp_variance = _report_gps_pos.timestamp;
_report_gps_pos.eph = (float)gps.eph * 1e-2f;
_report_gps_pos.epv = (float)gps.epv * 1e-2f;
_report_gps_pos.timestamp_velocity = _report_gps_pos.timestamp_position;
_report_gps_pos.timestamp_velocity = _report_gps_pos.timestamp;
_report_gps_pos.vel_m_s = (float)(gps.vel) / 100.0f;
_report_gps_pos.vel_n_m_s = (float)(gps.vn) / 100.0f;
_report_gps_pos.vel_e_m_s = (float)(gps.ve) / 100.0f;
@@ -306,17 +306,17 @@ GPSSIM::task_main()
while (!_task_should_exit) {
if (_fake_gps) {
_report_gps_pos.timestamp_position = hrt_absolute_time();
_report_gps_pos.timestamp = hrt_absolute_time();
_report_gps_pos.lat = (int32_t)47.378301e7f;
_report_gps_pos.lon = (int32_t)8.538777e7f;
_report_gps_pos.alt = (int32_t)1200e3f;
_report_gps_pos.timestamp_variance = _report_gps_pos.timestamp_position;
_report_gps_pos.timestamp_variance = _report_gps_pos.timestamp;
_report_gps_pos.s_variance_m_s = 10.0f;
_report_gps_pos.c_variance_rad = 0.1f;
_report_gps_pos.fix_type = 3;
_report_gps_pos.eph = 0.9f;
_report_gps_pos.epv = 1.8f;
_report_gps_pos.timestamp_velocity = _report_gps_pos.timestamp_position;
_report_gps_pos.timestamp_velocity = _report_gps_pos.timestamp;
_report_gps_pos.vel_n_m_s = 0.0f;
_report_gps_pos.vel_e_m_s = 0.0f;
_report_gps_pos.vel_d_m_s = 0.0f;
@@ -342,7 +342,7 @@ GPSSIM::task_main()
//Publish initial report that we have access to a GPS
//Make sure to clear any stale data in case driver is reset
memset(&_report_gps_pos, 0, sizeof(_report_gps_pos));
_report_gps_pos.timestamp_position = hrt_absolute_time();
_report_gps_pos.timestamp = hrt_absolute_time();
_report_gps_pos.timestamp_variance = hrt_absolute_time();
_report_gps_pos.timestamp_velocity = hrt_absolute_time();
_report_gps_pos.timestamp_time = hrt_absolute_time();
@@ -413,9 +413,9 @@ GPSSIM::print_info()
_report_gps_pos.noise_per_ms,
_report_gps_pos.jamming_indicator == 255 ? "YES" : "NO");
if (_report_gps_pos.timestamp_position != 0) {
if (_report_gps_pos.timestamp != 0) {
PX4_INFO("position lock: %dD, satellites: %d, last update: %8.4fms ago", (int)_report_gps_pos.fix_type,
_report_gps_pos.satellites_used, (double)(hrt_absolute_time() - _report_gps_pos.timestamp_position) / 1000.0);
_report_gps_pos.satellites_used, (double)(hrt_absolute_time() - _report_gps_pos.timestamp) / 1000.0);
PX4_INFO("lat: %d, lon: %d, alt: %d", _report_gps_pos.lat, _report_gps_pos.lon, _report_gps_pos.alt);
PX4_INFO("vel: %.2fm/s, %.2fm/s, %.2fm/s", (double)_report_gps_pos.vel_n_m_s,
(double)_report_gps_pos.vel_e_m_s, (double)_report_gps_pos.vel_d_m_s);