FakeGps.hpp 2.9 KB
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#pragma once

#include <px4_platform_common/defines.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/sensor_gps.h>

class FakeGps : public ModuleBase<FakeGps>, public ModuleParams, public px4::ScheduledWorkItem
{
public:
	FakeGps(double latitude_deg = 29.6603018, double longitude_deg = -82.3160500, float altitude_m = 30.1f);

	~FakeGps() override = default;

	/** @see ModuleBase */
	static int task_spawn(int argc, char *argv[]);

	/** @see ModuleBase */
	static int custom_command(int argc, char *argv[]);

	/** @see ModuleBase */
	static int print_usage(const char *reason = nullptr);

	bool init();

private:
	static constexpr uint32_t SENSOR_INTERVAL_US{1000000 / 5}; // 5 Hz

	void Run() override;

	uORB::PublicationMulti<sensor_gps_s> _sensor_gps_pub{ORB_ID(sensor_gps)};

	int32_t _latitude{296603018};   // Latitude in 1e-7 degrees
	int32_t _longitude{-823160500}; // Longitude in 1e-7 degrees
	int32_t _altitude{30100};       // Altitude in 1e-3 meters above MSL, (millimetres)
};