fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-14 19:33:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Septentrio GNSS resilience reporting (#25012)

Browse Source 
Co-authored-by: Tory9 <vvpost05@gmail.com>
This commit is contained in:
Louis-max-H
2025-09-24 11:08:10 -04:00
committed by GitHub
co-authored by Tory9
parent 8fe2a2218e
commit e71faf38a0
15 changed files with 360 additions and 29 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/examples/fake_gps/FakeGps.cpp
+8
View File
@@ -87,6 +87,14 @@ void FakeGps::Run()
sensor_gps.satellites_used = 14;
sensor_gps.timestamp = hrt_absolute_time();
_sensor_gps_pub.publish(sensor_gps);
sensor_gnss_status_s sensor_gnss_status{};
sensor_gnss_status.quality_corrections = 0;
sensor_gnss_status.quality_receiver = 9;
sensor_gnss_status.quality_gnss_signals = 10;
sensor_gnss_status.quality_post_processing = 255;
sensor_gnss_status.timestamp = hrt_absolute_time();
_sensor_gnss_status_pub.publish(sensor_gnss_status);
}
int FakeGps::task_spawn(int argc, char *argv[])
src/examples/fake_gps/FakeGps.hpp
+2
View File
@@ -41,6 +41,7 @@
#include <uORB/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/sensor_gps.h>
#include <uORB/topics/sensor_gnss_status.h>
class FakeGps : public ModuleBase<FakeGps>, public ModuleParams, public px4::ScheduledWorkItem
{
@@ -66,6 +67,7 @@ private:
void Run() override;
uORB::PublicationMulti<sensor_gps_s> _sensor_gps_pub{ORB_ID(sensor_gps)};
uORB::PublicationMulti<sensor_gnss_status_s> _sensor_gnss_status_pub{ORB_ID(sensor_gnss_status)};
double _latitude{29.6603018}; // Latitude in degrees
double _longitude{-82.3160500}; // Longitude in degrees