Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
gps_sim.c
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1 /*
2  * Copyright (C) 2008-2011 The Paparazzi Team
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
21 
22 #include "modules/gps/gps_sim.h"
23 #include "modules/core/abi.h"
24 
25 void gps_sim_init(void)
26 {
28 }
29 
30 void gps_sim_publish(void)
31 {
32  uint32_t now_ts = get_sys_time_usec();
35  if (gps.fix == GPS_FIX_3D) {
38  }
39  AbiSendMsgGPS(GPS_SIM_ID, now_ts, &gps);
40 }
GPS_SIM_ID
#define GPS_SIM_ID
Definition: abi_sender_ids.h:268
uint32_t
unsigned int uint32_t
Typedef defining 32 bit unsigned int type.
Definition: vl53l1_types.h:78
abi.h
get_sys_time_usec
uint32_t get_sys_time_usec(void)
Get the time in microseconds since startup.
Definition: sys_time_arch.c:75
GpsState::last_msg_ticks
uint32_t last_msg_ticks
cpu time ticks at last received GPS message
Definition: gps.h:119
GpsState::fix
uint8_t fix
status of fix
Definition: gps.h:110
gps_sim_init
void gps_sim_init(void)
Definition: gps_sim.c:25
GpsState::last_3dfix_time
uint32_t last_3dfix_time
cpu time in sec at last valid 3D fix
Definition: gps.h:118
GpsState::last_3dfix_ticks
uint32_t last_3dfix_ticks
cpu time ticks at last valid 3D fix
Definition: gps.h:117
GpsState::last_msg_time
uint32_t last_msg_time
cpu time in sec at last received GPS message
Definition: gps.h:120
gps_sim_publish
void gps_sim_publish(void)
Definition: gps_sim.c:30
gps_sim.h
sys_time
Definition: sys_time.h:71
sys_time::nb_sec_rem
volatile uint32_t nb_sec_rem
remainder of seconds since startup in CPU_TICKS
Definition: sys_time.h:73
sys_time::nb_sec
volatile uint32_t nb_sec
full seconds since startup
Definition: sys_time.h:72
gps
struct GpsState gps
global GPS state
Definition: gps.c:69
GPS_FIX_NONE
#define GPS_FIX_NONE
No GPS fix.
Definition: gps.h:40
GPS_FIX_3D
#define GPS_FIX_3D
3D GPS fix
Definition: gps.h:42