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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-

#include "GPS.h"
/*
#if defined(ARDUINO) && ARDUINO >= 100
        #include "Arduino.h"
#else
        #include "WProgram.h"
#endif
*/


void
GPS::update(void)
{
    bool        result;

    // call the GPS driver to process incoming data
    result = read();

    // if we did not get a message, and the idle timer has expired, re-init
    if (!result) {
        if ((millis() - _idleTimer) > idleTimeout) {
            _status = NO_GPS;

            init();
            // reset the idle timer
            _idleTimer = millis();
        }
    } else {
        // we got a message, update our status correspondingly
        _status = fix ? GPS_OK : NO_FIX;

        valid_read = true;
        new_data = true;

        // reset the idle timer
        _idleTimer = millis();

                if (_status == GPS_OK) {
                        // update our acceleration
                        float deltat = 1.0e-3 * (_idleTimer - last_fix_time);
                        float deltav = 1.0e-2 * ((float)ground_speed - (float)_last_ground_speed);
                        last_fix_time = _idleTimer;
                        _last_ground_speed = ground_speed;

                        if (deltat > 2.0 || deltat == 0) {
                                // we didn't get a fix for 2 seconds - set
                                // acceleration to zero, as the estimate will be too
                                // far out
                                _acceleration = 0;
                        } else {
                                // calculate a mildly smoothed acceleration value
                                _acceleration = (0.7 * _acceleration) + (0.3 * (deltav/deltat));
                        }
                }
    }
}

void
GPS::setHIL(long _time, float _latitude, float _longitude, float _altitude,
            float _ground_speed, float _ground_course, float _speed_3d, uint8_t _num_sats)
{
}

// XXX this is probably the wrong way to do it, too
void
GPS::_error(const char *msg)
{
    Serial.println(msg);
}