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Code Issues Releases Activity

Make the simulation provide GPSVelocity object since this is critical for EKF

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This commit is contained in:
James Cotton 2012-04-14 14:01:42 -05:00
parent ce6def870b
commit b7c3b1fdd1
1 changed files with 9 additions and 0 deletions
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9
flight/Modules/Sensors/simulated/sensors.c
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@ -59,6 +59,7 @@
#include "gyrosbias.h" #include "gyrosbias.h"
#include "flightstatus.h" #include "flightstatus.h"
#include "gpsposition.h" #include "gpsposition.h"
#include "gpsvelocity.h"
#include "homelocation.h" #include "homelocation.h"
#include "magnetometer.h" #include "magnetometer.h"
#include "ratedesired.h" #include "ratedesired.h"
@ -100,6 +101,7 @@ int32_t SensorsInitialize(void)
GyrosInitialize(); GyrosInitialize();
GyrosBiasInitialize(); GyrosBiasInitialize();
GPSPositionInitialize(); GPSPositionInitialize();
GPSVelocityInitialize();
MagnetometerInitialize(); MagnetometerInitialize();
RevoCalibrationInitialize(); RevoCalibrationInitialize();
@ -467,6 +469,13 @@ static void simulateModelQuadcopter()
gpsPosition.PDOP = 1; gpsPosition.PDOP = 1;
GPSPositionSet(&gpsPosition); GPSPositionSet(&gpsPosition);
last_gps_time = PIOS_DELAY_GetRaw(); last_gps_time = PIOS_DELAY_GetRaw();
GPSVelocityData gpsVelocity;
GPSVelocityGet(&gpsVelocity);
gpsVelocity.North = vel[0] + gps_vel_drift[0];
gpsVelocity.East = vel[1] + gps_vel_drift[1];
gpsVelocity.Down = vel[2] + gps_vel_drift[2];
GPSVelocitySet(&gpsVelocity);
} }
// Update mag periodically // Update mag periodically