src/main/io/gps_virtual.c

   1 /*
   2  * This file is part of Betaflight.
   3  *
   4  * Betaflight is free software. You can redistribute this software
   5  * and/or modify this software under the terms of the GNU General
   6  * Public License as published by the Free Software Foundation,
   7  * either version 3 of the License, or (at your option) any later
   8  * version.
   9  *
  10  * Betaflight is distributed in the hope that it will be useful,
  11  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  *
  14  * See the GNU General Public License for more details.
  15  *
  16  * You should have received a copy of the GNU General Public
  17  * License along with this software.
  18  *
  19  * If not, see <http://www.gnu.org/licenses/>.
  20  */
  21
  22 #include <stdbool.h>
  23 #include <stdint.h>
  24
  25 #include "platform.h"
  26
  27 #ifdef USE_VIRTUAL_GPS
  28
  29 #include "io/gps_virtual.h"
  30
  31 static gpsSolutionData_t gpsVirtualData;
  32
  33 void setVirtualGPS(double latitude, double longitude, double altiutude, double speed, double speed3D, double course)
  34 {
  35     gpsVirtualData.numSat = 12;    // satellites_in_view
  36     gpsVirtualData.acc.hAcc = 500; // horizontal_pos_accuracy - convert cm to mm
  37     gpsVirtualData.acc.vAcc = 500; // vertical_pos_accuracy - convert cm to mm
  38     gpsVirtualData.acc.sAcc = 400; // horizontal_vel_accuracy - convert cm to mm
  39     gpsVirtualData.dop.pdop = 10; // hdop in 4.4 and earlier, pdop in 4.5 and above
  40     gpsVirtualData.llh.lon = (int32_t)(longitude * GPS_DEGREES_DIVIDER);
  41     gpsVirtualData.llh.lat = (int32_t)(latitude * GPS_DEGREES_DIVIDER);
  42     gpsVirtualData.llh.altCm = (int32_t)(altiutude * 100.0); // alt, cm
  43     gpsVirtualData.groundSpeed = (uint16_t)(speed * 100.0);  // cm/sec
  44     gpsVirtualData.speed3d = (uint16_t)(speed3D * 100.0);    // cm/sec
  45     gpsVirtualData.groundCourse = (uint16_t)(course * 10.0); // decidegrees
  46 }
  47
  48 void getVirtualGPS(gpsSolutionData_t *gpsSolData)
  49 {
  50     *gpsSolData = gpsVirtualData;
  51 }
  52 #endif