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7f4fedde6a
When the antennas are not parallel to the x body axis, the GPS message contains the angular offset but the data is already corrected in the driver. EKF2 should then not add this offset during the initialisation.
79 lines
2.6 KiB
C++
79 lines
2.6 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019 ECL Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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*
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****************************************************************************/
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/**
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* Feeds Ekf with Gps data
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* @author Kamil Ritz <ka.ritz@hotmail.com>
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*/
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#pragma once
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#include "sensor.h"
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namespace sensor_simulator
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{
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namespace sensor
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{
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class Gps: public Sensor
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{
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public:
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Gps(std::shared_ptr<Ekf> ekf);
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~Gps();
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void setData(const gps_message& gps);
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void stepHeightByMeters(float hgt_change);
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void stepHorizontalPositionByMeters(Vector2f hpos_change);
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void setPositionRateNED(const Vector3f& rate) { _gps_pos_rate = rate; }
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void setAltitude(int32_t alt);
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void setLatitude(int32_t lat);
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void setLongitude(int32_t lon);
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void setVelocity(const Vector3f& vel);
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void setYaw(float yaw);
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void setYawOffset(float yaw);
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void setFixType(int n);
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void setNumberOfSatellites(int n);
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void setPdop(float pdop);
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gps_message getDefaultGpsData();
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private:
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gps_message _gps_data{};
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Vector3f _gps_pos_rate{};
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void send(uint64_t time) override;
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};
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} // namespace sensor
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} // namespace sensor_simulator
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