void gps_sim_hitl_event(void)
{
if (SysTimeTimer(gps_sim_hitl_timer) > 100000) {
SysTimeTimerStart(gps_sim_hitl_timer);
gps.last_msg_ticks = sys_time.nb_sec_rem;
gps.last_msg_time = sys_time.nb_sec;
if (state.ned_initialized_i) {
if (!autopilot_in_flight) {
struct Int32Vect2 zero_vector;
INT_VECT2_ZERO(zero_vector);
gh_set_ref(zero_vector, zero_vector, zero_vector);
INT_VECT2_ZERO(guidance_h.ref.pos);
INT_VECT2_ZERO(guidance_h.ref.speed);
INT_VECT2_ZERO(guidance_h.ref.accel);
gv_set_ref(0, 0, 0);
guidance_v_z_ref = 0;
guidance_v_zd_ref = 0;
guidance_v_zdd_ref = 0;
}
struct NedCoor_i ned_c;
ned_c.x = guidance_h.ref.pos.x * INT32_POS_OF_CM_DEN / INT32_POS_OF_CM_NUM;
ned_c.y = guidance_h.ref.pos.y * INT32_POS_OF_CM_DEN / INT32_POS_OF_CM_NUM;
ned_c.z = guidance_v_z_ref * INT32_POS_OF_CM_DEN / INT32_POS_OF_CM_NUM;
ecef_of_ned_point_i(&gps.ecef_pos, &state.ned_origin_i, &ned_c);
gps.lla_pos.alt = state.ned_origin_i.lla.alt - ned_c.z;
gps.hmsl = state.ned_origin_i.hmsl - ned_c.z;
ned_c.x = guidance_h.ref.speed.x * INT32_SPEED_OF_CM_S_DEN / INT32_SPEED_OF_CM_S_NUM;
ned_c.y = guidance_h.ref.speed.y * INT32_SPEED_OF_CM_S_DEN / INT32_SPEED_OF_CM_S_NUM;
ned_c.z = guidance_v_zd_ref * INT32_SPEED_OF_CM_S_DEN / INT32_SPEED_OF_CM_S_NUM;
ecef_of_ned_vect_i(&gps.ecef_vel, &state.ned_origin_i, &ned_c);
gps.fix = GPS_FIX_3D;
gps.last_3dfix_ticks = sys_time.nb_sec_rem;
gps.last_3dfix_time = sys_time.nb_sec;
gps_available = true;
}
else {
struct Int32Vect2 zero_vector;
INT_VECT2_ZERO(zero_vector);
gh_set_ref(zero_vector, zero_vector, zero_vector);
gv_set_ref(0, 0, 0);
}
// publish gps data
uint32_t now_ts = get_sys_time_usec();
gps.last_msg_ticks = sys_time.nb_sec_rem;
gps.last_msg_time = sys_time.nb_sec;
if (gps.fix == GPS_FIX_3D) {
gps.last_3dfix_ticks = sys_time.nb_sec_rem;
gps.last_3dfix_time = sys_time.nb_sec;
}
AbiSendMsgGPS(GPS_SIM_ID, now_ts, &gps);
}
}
static inline void reset_guidance_reference_from_current_position(void)
{
VECT2_COPY(guidance_h.ref.pos, *stateGetPositionNed_i());
VECT2_COPY(guidance_h.ref.speed, *stateGetSpeedNed_i());
INT_VECT2_ZERO(guidance_h.ref.accel);
gh_set_ref(guidance_h.ref.pos, guidance_h.ref.speed, guidance_h.ref.accel);
INT_VECT2_ZERO(guidance_h_trim_att_integrator);
}