C++ (Cpp) set_system_time_from_GPS примеры использования

Пример #1

Файл: ArduSub.cpp Проект: LanderU/ardupilot

// called at 50hz
void Sub::update_GPS(void)
{
    static uint32_t last_gps_reading[GPS_MAX_INSTANCES];   // time of last gps message
    bool gps_updated = false;

    gps.update();

    // log after every gps message
    for (uint8_t i=0; i<gps.num_sensors(); i++) {
        if (gps.last_message_time_ms(i) != last_gps_reading[i]) {
            last_gps_reading[i] = gps.last_message_time_ms(i);

            // log GPS message
            if (should_log(MASK_LOG_GPS) && !ahrs.have_ekf_logging()) {
                DataFlash.Log_Write_GPS(gps, i);
            }

            gps_updated = true;
        }
    }

    if (gps_updated) {
        // set system time if necessary
        set_system_time_from_GPS();

#if CAMERA == ENABLED
        camera.update();
#endif
    }
}

Пример #2

Файл: APMrover2.cpp Проект: manuk007/ardupilot

void Rover::update_GPS(void)
{
    gps.update();
    if (gps.last_message_time_ms() != last_gps_msg_ms) {
        last_gps_msg_ms = gps.last_message_time_ms();

        // set system time if necessary
        set_system_time_from_GPS();
#if CAMERA == ENABLED
        camera.update();
#endif
    }
}

Пример #3

Файл: ArduCopter.cpp Проект: Stijndbr/ardupilot

// called at 50hz
void Copter::update_GPS(void)
{
    static uint32_t last_gps_reading[GPS_MAX_INSTANCES];   // time of last gps message
    bool gps_updated = false;

    gps.update();

    // log after every gps message
    for (uint8_t i=0; i<gps.num_sensors(); i++) {
        if (gps.last_message_time_ms(i) != last_gps_reading[i]) {
            last_gps_reading[i] = gps.last_message_time_ms(i);

            // log GPS message
            if (should_log(MASK_LOG_GPS)) {
                DataFlash.Log_Write_GPS(gps, i, current_loc.alt);
            }

            gps_updated = true;
        }
    }

    if (gps_updated) {
        // set system time if necessary
        set_system_time_from_GPS();
        //Added by sdb to rewrite PID parameters when switch from RTK-> GPS & Baro
        if (gps.status() < AP_GPS::GPS_OK_FIX_3D){
        g.p_alt_hold.kP(1.0f);
        g.p_pos_xy.kP(1.0f);}
 
        if (gps.status() == AP_GPS::GPS_OK_FIX_3D_RTK){
        g.p_alt_hold.kP(1.4f);
        g.p_pos_xy.kP(2.6f);}

        // checks to initialise home and take location based pictures
        if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {

#if CAMERA == ENABLED
            if (camera.update_location(current_loc) == true) {
                do_take_picture();
            }
#endif
        }
    }
}

Пример #4

Файл: ArduCopter.cpp Проект: Amnesiac2/ardupilot

// called at 50hz
void Copter::update_GPS(void)
{
    static uint32_t last_gps_reading[GPS_MAX_INSTANCES];   // time of last gps message
    bool gps_updated = false;

    gps.update();

    // log after every gps message
    for (uint8_t i=0; i<gps.num_sensors(); i++) {
        if (gps.last_message_time_ms(i) != last_gps_reading[i]) {
            last_gps_reading[i] = gps.last_message_time_ms(i);

            // log GPS message
            if (should_log(MASK_LOG_GPS)) {
                DataFlash.Log_Write_GPS(gps, i, current_loc.alt);
            }

            gps_updated = true;
        }
    }

    if (gps_updated) {
        // set system time if necessary
        set_system_time_from_GPS();

        // checks to initialise home and take location based pictures
        if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {

#if CAMERA == ENABLED
            if (camera.update_location(current_loc, copter.ahrs) == true) {
                do_take_picture();
            }
#endif
        }
    }
}