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2bafe9df08
This fixes the cases where the yaw message from the GNSS receiver would take more time than the vel/pos. The estimator should wait and not immediately fall back to an other aiding source after 5sec. If it never comes, it will never fall back, but this is ok since the user wants to fly with GPS aiding an not with something else.
78 lines
2.6 KiB
C++
78 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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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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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 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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