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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-01-10 22:38:12 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-01-10 22:38:12 +0100 |
| commit | f205c07c084fd1008f201518d84c64718e7df9cc (patch) | |
| tree | acd1b5edacd0f8cba25b5bc95a5e0dd049139d6a /src/drivers/gps | |
| parent | 6604d7b9479df29227797d47aee35db27e88865c (diff) | |
| download | px4-firmware-f205c07c084fd1008f201518d84c64718e7df9cc.tar.gz px4-firmware-f205c07c084fd1008f201518d84c64718e7df9cc.tar.bz2 px4-firmware-f205c07c084fd1008f201518d84c64718e7df9cc.zip | |
very simple gps fix fake in gps driver only for development
Diffstat (limited to 'src/drivers/gps')
| -rw-r--r-- | src/drivers/gps/gps.cpp | 23 |
1 files changed, 23 insertions, 0 deletions
diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index fc500a9ec..1afb279fe 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -294,6 +294,29 @@ GPS::task_main() while (_Helper->receive(TIMEOUT_5HZ) > 0 && !_task_should_exit) { // lock(); /* opportunistic publishing - else invalid data would end up on the bus */ +//#define FAKEGPS +#ifdef FAKEGPS + _report.timestamp_position = hrt_absolute_time(); + _report.lat = (int32_t)47.378301e7f; + _report.lon = (int32_t)8.538777e7f; + _report.alt = (int32_t)400e3f; + _report.timestamp_variance = hrt_absolute_time(); + _report.s_variance_m_s = 10.0f; + _report.p_variance_m = 10.0f; + _report.c_variance_rad = 0.1f; + _report.fix_type = 3; + _report.eph_m = 10.0f; + _report.epv_m = 10.0f; + _report.timestamp_velocity = hrt_absolute_time(); + _report.vel_n_m_s = 20.0f; + _report.vel_e_m_s = 0.0f; + _report.vel_d_m_s = 0.0f; + _report.vel_m_s = sqrtf(_report.vel_n_m_s * _report.vel_n_m_s + _report.vel_e_m_s * _report.vel_e_m_s + _report.vel_d_m_s * _report.vel_d_m_s); + _report.cog_rad = 0.0f; + _report.vel_ned_valid = true; + + //no time and satellite information simulated +#endif if (_report_pub > 0) { orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report); |