gps_nps module

Simulated GPS for NPS.

For NPS simulator. Can model GPS noise, bias and latency. The GPS sensor configuration is done in the header file referenced by NPS_SENSORS_PARAMS.

Example for airframe file

Add to your firmware section:

<module name="gps_nps"/>

Module functions

Init Functions

These initialization functions are called once on startup.

• gps_nps_init()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

• gps_nps_periodic_check()
  • Frequency in Hz: 1.
  • Autorun: TRUE
    Periodic function automatically starts after init.

Files

Header Files

The following headers are automatically included in modules.h

• gps.h

Source Files

• modules/gps/gps_sim_nps.c

Raw gps_nps.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="gps_nps" dir="gps" task="sensors">
  <doc>
    <description>
      Simulated GPS for NPS.
      For NPS simulator. Can model GPS noise, bias and latency.
      The GPS sensor configuration is done in the header file referenced by NPS_SENSORS_PARAMS.
    </description>
  </doc>
  <dep>
    <depends>gps</depends>
    <provides>gps</provides>
  </dep>
  <header>
    <file name="gps.h"/>
  </header>
  <init fun="gps_nps_init()"/>
  <periodic fun="gps_nps_periodic_check()" freq="1." autorun="TRUE"/>
  <makefile target="sim|nps">
    <file name="gps_sim_nps.c"/>
    <define name="GPS_TYPE_H" value="modules/gps/gps_sim_nps.h" type="string"/>
    <test>
      <define name="PERIODIC_FREQUENCY" value="500"/>
      <include name="../simulator/nps"/>
      <include name="../../conf/simulator/nps"/>
      <shell cmd="pkg-config glib-2.0 --cflags"/>
    </test>
  </makefile>
</module>