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GPS sim: Add missing velocity timestamp

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This commit is contained in:
Lorenz Meier
2016-03-12 11:07:34 +01:00
parent 155a0d7f18
commit c1321ec721
1 changed files with 4 additions and 3 deletions
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7
src/platforms/posix/drivers/gpssim/gpssim.cpp
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@@ -282,9 +282,10 @@ GPSSIM::receive(int timeout)
_report_gps_pos.lat = gps.lat;
_report_gps_pos.lon = gps.lon;
_report_gps_pos.alt = gps.alt;
_report_gps_pos.timestamp_variance = hrt_absolute_time();
_report_gps_pos.timestamp_variance = _report_gps_pos.timestamp_position;
_report_gps_pos.eph = (float)gps.eph * 1e-2f;
_report_gps_pos.epv = (float)gps.epv * 1e-2f;
_report_gps_pos.timestamp_velocity = _report_gps_pos.timestamp_position;
_report_gps_pos.vel_m_s = (float)(gps.vel) / 100.0f;
_report_gps_pos.vel_n_m_s = (float)(gps.vn) / 100.0f;
_report_gps_pos.vel_e_m_s = (float)(gps.ve) / 100.0f;
@@ -309,13 +310,13 @@ GPSSIM::task_main()
_report_gps_pos.lat = (int32_t)47.378301e7f;
_report_gps_pos.lon = (int32_t)8.538777e7f;
_report_gps_pos.alt = (int32_t)1200e3f;
_report_gps_pos.timestamp_variance = hrt_absolute_time();
_report_gps_pos.timestamp_variance = _report_gps_pos.timestamp_position;
_report_gps_pos.s_variance_m_s = 10.0f;
_report_gps_pos.c_variance_rad = 0.1f;
_report_gps_pos.fix_type = 3;
_report_gps_pos.eph = 0.9f;
_report_gps_pos.epv = 1.8f;
_report_gps_pos.timestamp_velocity = hrt_absolute_time();
_report_gps_pos.timestamp_velocity = _report_gps_pos.timestamp_position;
_report_gps_pos.vel_n_m_s = 0.0f;
_report_gps_pos.vel_e_m_s = 0.0f;
_report_gps_pos.vel_d_m_s = 0.0f;