Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : 
      16             : //
      17             : //  MSP GPS driver
      18             : //
      19             : #include <AP_MSP/msp.h>
      20             : #include "AP_GPS_MSP.h"
      21             : 
      22             : #if HAL_MSP_GPS_ENABLED
      23             : 
      24             : // Reading does nothing in this class; we simply return whether or not
      25             : // the latest reading has been consumed.  By calling this function we assume
      26             : // the caller is consuming the new data;
      27         693 : bool AP_GPS_MSP::read(void)
      28             : {
      29         693 :     if (new_data) {
      30          64 :         new_data = false;
      31          64 :         return true;
      32             :     }
      33         629 :     return false;
      34             : }
      35             : 
      36             : // handles an incoming msp message and sets
      37             : // corresponding gps data appropriately;
      38          64 : void AP_GPS_MSP::handle_msp(const MSP::msp_gps_data_message_t &pkt)
      39             : {
      40          64 :     check_new_itow(pkt.ms_tow, sizeof(pkt));
      41             : 
      42          64 :     state.time_week = pkt.gps_week;
      43          64 :     state.time_week_ms = pkt.ms_tow;
      44          64 :     state.status = (AP_GPS_FixType)pkt.fix_type;
      45          64 :     state.num_sats = pkt.satellites_in_view;
      46         128 :     state.location = {
      47          64 :         pkt.latitude,
      48          64 :         pkt.longitude,
      49          64 :         pkt.msl_altitude,
      50             :         Location::AltFrame::ABSOLUTE
      51             :     };
      52          64 :     state.hdop = pkt.hdop;
      53          64 :     state.vdop = GPS_UNKNOWN_DOP;
      54             : 
      55          64 :     state.have_vertical_velocity = true;
      56          64 :     Vector3f vel;
      57          64 :     vel.x = pkt.ned_vel_north * 0.01;
      58          64 :     vel.y = pkt.ned_vel_east * 0.01;
      59          64 :     vel.z = pkt.ned_vel_down * 0.01;
      60          64 :     state.velocity = vel;
      61             : 
      62          64 :     velocity_to_speed_course(state);
      63             : 
      64          64 :     state.have_speed_accuracy = true;
      65          64 :     state.have_horizontal_accuracy = true;
      66          64 :     state.have_vertical_accuracy = true;
      67          64 :     state.have_vertical_velocity = true;
      68             : 
      69          64 :     state.horizontal_accuracy = pkt.horizontal_pos_accuracy * 0.01;
      70          64 :     state.vertical_accuracy = pkt.vertical_pos_accuracy * 0.01;
      71          64 :     state.speed_accuracy = pkt.horizontal_vel_accuracy * 0.01;
      72             : 
      73          64 :     state.last_gps_time_ms = AP_HAL::millis();
      74             : 
      75          64 :     if (pkt.true_yaw != 65535) {
      76          64 :         state.gps_yaw = wrap_360(pkt.true_yaw*0.01);
      77          64 :         state.have_gps_yaw = true;
      78          64 :         state.gps_yaw_time_ms = state.last_gps_time_ms;
      79             :     }
      80             : 
      81          64 :     new_data = pkt.fix_type>0;
      82          64 : }
      83             : 
      84             : /*
      85             :   return velocity lag in seconds
      86             :  */
      87       15928 : bool AP_GPS_MSP::get_lag(float &lag_sec) const
      88             : {
      89             :     // measured on Matek M8Q
      90       15928 :     lag_sec = 0.11;
      91       15928 :     return true;
      92             : }
      93             : 
      94             : #endif // HAL_MSP_GPS_ENABLED