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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_DAL/AP_DAL_GPS.cpp
Views: 1798
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#include "AP_DAL_GPS.h"

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#include <AP_Logger/AP_Logger.h>

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#include "AP_DAL.h"

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AP_DAL_GPS::AP_DAL_GPS()

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{

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    for (uint8_t i=0; i<ARRAY_SIZE(_RGPI); i++) {

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        _RGPI[i].instance = i;

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        _RGPJ[i].instance = i;

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    }

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}

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void AP_DAL_GPS::start_frame()

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{

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    const auto &gps = AP::gps();

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    const log_RGPH old_RGPH = _RGPH;

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    _RGPH.primary_sensor = gps.primary_sensor();

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    _RGPH.num_sensors = gps.num_sensors();

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    WRITE_REPLAY_BLOCK_IFCHANGED(RGPH, _RGPH, old_RGPH);

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    for (uint8_t i=0; i<ARRAY_SIZE(_RGPI); i++) {

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        log_RGPI &RGPI = _RGPI[i];

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        log_RGPJ &RGPJ = _RGPJ[i];

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        const log_RGPI old_RGPI = RGPI;

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        const log_RGPJ old_RGPJ = RGPJ;

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        RGPI.status = (GPS_Status)gps.status(i);

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        RGPI.antenna_offset = gps.get_antenna_offset(i);

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        const Location &loc = gps.location(i);

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        RGPJ.last_message_time_ms = gps.last_message_time_ms(i);

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        RGPJ.lat = loc.lat;

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        RGPJ.lng = loc.lng;

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        RGPJ.alt = loc.alt;

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        RGPI.have_vertical_velocity = gps.have_vertical_velocity(i);

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        RGPI.horizontal_accuracy_returncode = gps.horizontal_accuracy(i, RGPJ.hacc);

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        RGPI.vertical_accuracy_returncode = gps.vertical_accuracy(i, RGPJ.vacc);

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        RGPJ.hdop = gps.get_hdop(i);

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        RGPI.num_sats = gps.num_sats(i);

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        RGPI.get_lag_returncode = gps.get_lag(i, RGPI.lag_sec);

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        RGPJ.velocity = gps.velocity(i);

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        RGPI.speed_accuracy_returncode = gps.speed_accuracy(i, RGPJ.sacc);

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        RGPI.gps_yaw_deg_returncode = gps.gps_yaw_deg(i, RGPJ.yaw_deg, RGPJ.yaw_accuracy_deg, RGPJ.yaw_deg_time_ms);

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        WRITE_REPLAY_BLOCK_IFCHANGED(RGPI, RGPI, old_RGPI);

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        WRITE_REPLAY_BLOCK_IFCHANGED(RGPJ, RGPJ, old_RGPJ);

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        tmp_location[i].lat = RGPJ.lat;

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        tmp_location[i].lng = RGPJ.lng;

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        tmp_location[i].alt = RGPJ.alt;

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    }

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}

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