本文整理汇总了C++中AP_GPS::velocity方法的典型用法代码示例。如果您正苦于以下问题：C++ AP_GPS::velocity方法的具体用法？C++ AP_GPS::velocity怎么用？C++ AP_GPS::velocity使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类AP_GPS的用法示例。
在下文中一共展示了AP_GPS::velocity方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: send_dynamic_out
void AP_ADSB::send_dynamic_out(const mavlink_channel_t chan)
{
// --------------
// Knowns
AP_GPS gps = _ahrs.get_gps();
Vector3f gps_velocity = gps.velocity();
int32_t latitude = _my_loc.lat;
int32_t longitude = _my_loc.lng;
int32_t altGNSS = _my_loc.alt*0.1f; // convert cm to mm
int16_t velVert = gps_velocity.z * 1E2; // convert m/s to cm/s
int16_t nsVog = gps_velocity.x * 1E2; // convert m/s to cm/s
int16_t ewVog = gps_velocity.y * 1E2; // convert m/s to cm/s
uint8_t fixType = gps.status(); // this lines up perfectly with our enum
uint8_t emStatus = 0; // TODO: implement this ENUM. no emergency = 0
uint8_t numSats = gps.num_sats();
uint16_t squawk = 1200; // Mode A code (typically 1200 [0x04B0] for VFR)
uint32_t accHoriz = UINT_MAX;
float accHoriz_f;
if (gps.horizontal_accuracy(accHoriz_f)) {
accHoriz = accHoriz_f * 1E3; // convert m to mm
}
uint16_t accVert = USHRT_MAX;
float accVert_f;
if (gps.vertical_accuracy(accVert_f)) {
accVert = accVert_f * 1E2; // convert m to cm
}
uint16_t accVel = USHRT_MAX;
float accVel_f;
if (gps.speed_accuracy(accVel_f)) {
accVel = accVel_f * 1E3; // convert m/s to mm/s
}
uint16_t state = 0;
if (out_state._is_in_auto_mode) {
state |= UAVIONIX_ADSB_OUT_DYNAMIC_STATE_AUTOPILOT_ENABLED;
}
if (!out_state.is_flying) {
state |= UAVIONIX_ADSB_OUT_DYNAMIC_STATE_ON_GROUND;
}
// --------------
// Not Sure
uint32_t utcTime = UINT_MAX; // uint32_t utcTime,
// TODO: confirm this sets utcTime correctly
const uint64_t gps_time = gps.time_epoch_usec();
utcTime = gps_time / 1000000ULL;
// --------------
// Unknowns
// TODO: implement http://www.srh.noaa.gov/images/epz/wxcalc/pressureAltitude.pdf
int32_t altPres = INT_MAX; //_ahrs.get_baro().get_altitude() relative to home, not MSL
mavlink_msg_uavionix_adsb_out_dynamic_send(
chan,
utcTime,
latitude,
longitude,
altGNSS,
fixType,
numSats,
altPres,
accHoriz,
accVert,
accVel,
velVert,
nsVog,
ewVog,
emStatus,
state,
squawk);
}