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add iris_dual_gps config and the possibility of testing GPS blending through simulation

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This commit is contained in:
TSC21
2020-06-15 11:58:03 +01:00
committed by Nuno Marques
parent 39b803a9dc
commit 6add0fff7f
5 changed files with 33 additions and 4 deletions
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16
src/modules/simulator/simulator_mavlink.cpp
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@@ -309,7 +309,21 @@ void Simulator::handle_message_hil_gps(const mavlink_message_t *msg)
gps.satellites_used = hil_gps.satellites_visible;
gps.s_variance_m_s = 0.25f;
_vehicle_gps_position_pub.publish(gps);
// New publishers will be created based on the HIL_GPS ID's being different or not
for (size_t i = 0; i < sizeof(_gps_ids) / sizeof(_gps_ids[0]); i++) {
if (_vehicle_gps_position_pubs[i] && _gps_ids[i] == hil_gps.id) {
_vehicle_gps_position_pubs[i]->publish(gps);
break;
}
if (_vehicle_gps_position_pubs[i] == nullptr) {
_vehicle_gps_position_pubs[i] = new uORB::PublicationMulti<vehicle_gps_position_s> {ORB_ID(vehicle_gps_position)};
_gps_ids[i] = hil_gps.id;
_vehicle_gps_position_pubs[i]->publish(gps);
break;
}
}
}
}