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fix gnss speed and yaw accuracy and add jamming and spoofing states #20

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Merged
PonomarevDA merged 1 commit into from
Nov 29, 2024
Merged

fix gnss speed and yaw accuracy and add jamming and spoofing states #20

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19 changes: 15 additions & 4 deletions src/autopilot_interface/cyphal_hitl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -103,6 +103,13 @@ void CyphalHitlInterface::publish_gnss(const Vector3& global_pose, const Vector3

auto gnss_utc_timestamp_usec = simulate_gnss_utc_timestamp_usec();
uint64_t MICROSECONDS_IN_WEEK = 604800000000; // 7*24*60*60*1e6;

gps_gnss.msg.status.status = ds015_service_gnss_Status_0_1_STATUS_3D_FIX;
gps_gnss.msg.status.mode = ds015_service_gnss_Status_0_1_MODE_SINGLE;
gps_gnss.msg.status.sub_mode = ds015_service_gnss_Status_0_1_SUB_MODE_DGPS_OTHER;
gps_gnss.msg.status.jamming_state = ds015_service_gnss_Status_0_1_JAMMING_STATE_OK;
gps_gnss.msg.status.spoofing_state = ds015_service_gnss_Status_0_1_SPOOFING_STATE_NONE;

gps_gnss.msg.time_week = static_cast<uint16_t>(gnss_utc_timestamp_usec / MICROSECONDS_IN_WEEK);
gps_gnss.msg.time_week_ms = static_cast<uint32_t>((gnss_utc_timestamp_usec % MICROSECONDS_IN_WEEK) / 1000);

Expand All @@ -112,12 +119,16 @@ void CyphalHitlInterface::publish_gnss(const Vector3& global_pose, const Vector3
gps_gnss.msg.velocity.meter_per_second[0] = ned_velocity[0] * _time_factor;
gps_gnss.msg.velocity.meter_per_second[1] = ned_velocity[1] * _time_factor;
gps_gnss.msg.velocity.meter_per_second[2] = ned_velocity[2] * _time_factor;
gps_gnss.msg.num_sats = 10 * time_multiplier * random_multiplier;
gps_gnss.msg.status.status = 3;
gps_gnss.msg.hdop = 1.0f / time_multiplier / random_multiplier;
gps_gnss.msg.vdop = 1.0f / time_multiplier / random_multiplier;

gps_gnss.msg.yaw.radian = 0.0;

gps_gnss.msg.horizontal_accuracy = 1.0f / time_multiplier / random_multiplier;
gps_gnss.msg.vertical_accuracy = 1.0f / time_multiplier / random_multiplier;
gps_gnss.msg.speed_accuracy = 1.0f / time_multiplier / random_multiplier;
gps_gnss.msg.yaw_accuracy.radian = -1.0F;
gps_gnss.msg.hdop = 1.0f / time_multiplier / random_multiplier;
gps_gnss.msg.vdop = 1.0f / time_multiplier / random_multiplier;
gps_gnss.msg.num_sats = 10 * time_multiplier * random_multiplier;
gps_gnss.publish();
}

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