Allow simulation of more htan two GPS instances #28578
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tridge
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Nov 13, 2024
libraries/SITL/SIM_GPS.cpp
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| @@ -30,6 +30,105 @@ | |||
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| #include <GCS_MAVLink/GCS.h> | |||
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| namespace SITL { | |||
| // user settable parameters for airspeed sensors | |||
| // @Description: Enabled GPS | ||
| // @Values: 0:Disable, 1:Enable | ||
| // @User: Advanced | ||
| AP_GROUPINFO_FLAGS("ENABLE", 1, GPSParms, enabled, 0, AP_PARAM_FLAG_ENABLE), |
libraries/SITL/SIM_GPS.cpp
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| // @Param: HDG | ||
| // @DisplayName: GPS Heading | ||
| // @Description: Enable GPS1 output of NMEA heading HDT sentence or UBLOX_RELPOSNED | ||
| // @Values: 0:Disabled, 1:Enabled |
libraries/SITL/SITL.h
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| @@ -155,6 +155,7 @@ class SIM { | |||
| GPS_HEADING_HDT = 1, | |||
| GPS_HEADING_THS = 2, | |||
| GPS_HEADING_KSXT = 3, | |||
| GPS_HEADING_BASE = 4, // nb. I'm guessing, this could be ROVER! | |||
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Fixed this up - the enumeration name was correct.
need to take into account addition of (eg.) _X suffix for VECTOR3F parameters
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Test with:
No parameter conversion is done.
Parameters are moved to a subclass
Tested on branch for this PR: #28581
New requirements for testing RTK moving baseline - you must specify which is your "other" GPS as well as what sort of moving baseline thing you are.