sim_gps.c

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/* OCaml binding to link the simulator to autopilot functions. */

#include <assert.h>
#include <math.h>
#include <inttypes.h>

#include "generated/airframe.h"
#include "generated/flight_plan.h"
#include "subsystems/gps/gps_sim.h"
#include "math/pprz_geodetic_float.h"
#include "math/pprz_geodetic_int.h"

// currently needed for nav_utm_zone0
#include "subsystems/navigation/common_nav.h"

#include <caml/mlvalues.h>


value sim_use_gps_pos(value x, value y, value z, value c, value a, value s, value cl, value t, value m, value lat,
                      value lon)
{
  gps.fix = (Bool_val(m) ? 3 : 0);
  gps.course = Double_val(c) * 1e7;
  SetBit(gps.valid_fields, GPS_VALID_COURSE_BIT);
  gps.hmsl = Double_val(a) * 1000.;
  SetBit(gps.valid_fields, GPS_VALID_HMSL_BIT);
  gps.gspeed = Double_val(s) * 100.;
  gps.ned_vel.x = gps.gspeed * cos(Double_val(c));
  gps.ned_vel.y = gps.gspeed * sin(Double_val(c));
  gps.ned_vel.z = -Double_val(cl) * 100.;
  SetBit(gps.valid_fields, GPS_VALID_VEL_NED_BIT);
  gps.week = 0; // FIXME
  gps.tow = Double_val(t) * 1000.;

  struct LlaCoor_f lla_f;
  lla_f.lat = Double_val(lat);
  lla_f.lon = Double_val(lon);
  //TODO set alt above ellipsoid, use hmsl for now
  lla_f.alt = Double_val(a);
  LLA_BFP_OF_REAL(gps.lla_pos, lla_f);
  SetBit(gps.valid_fields, GPS_VALID_POS_LLA_BIT);

  gps.utm_pos.east = Int_val(x);
  gps.utm_pos.north = Int_val(y);
  gps.utm_pos.alt = gps.hmsl;
  gps.utm_pos.zone = Int_val(z);
  SetBit(gps.valid_fields, GPS_VALID_POS_UTM_BIT);

  gps.nb_channels = 7;
  int i;
  static int time;
  time++;
  for (i = 0; i < gps.nb_channels; i++) {
    gps.svinfos[i].svid = 7 + i;
    gps.svinfos[i].elev = (cos(((100 * i) + time) / 100.) + 1) * 45;
    gps.svinfos[i].azim = (time / gps.nb_channels + 50 * i) % 360;
    gps.svinfos[i].cno = 40 + sin((time + i * 10) / 100.) * 10.;
    gps.svinfos[i].flags = ((time / 10) % (i + 1) == 0 ? 0x00 : 0x01);
    gps.svinfos[i].qi = (int)((time / 1000.) + i) % 8;
  }
  gps.pdop = gps.sacc = gps.pacc = 500 + 200 * sin(time / 100.);
  gps.num_sv = 7;

  gps_sim_publish();

  return Val_unit;
}

/* Second binding required because number of args > 5 */
value sim_use_gps_pos_bytecode(value *a, int argn)
{
  assert(argn == 11);
  return sim_use_gps_pos(a[0], a[1], a[2], a[3], a[4], a[5], a[6], a[7], a[8], a[9], a[10]);
}

void ubxsend_cfg_rst(uint16_t a __attribute__((unused)), uint8_t b __attribute__((unused)))
{
  return;
}