From d1802f118a1206358ea63d5dffe90f1b05891c4c Mon Sep 17 00:00:00 2001 From: admercs Date: Thu, 25 Apr 2024 15:30:27 -0700 Subject: [PATCH] formatted file --- AutonomyLib/include/sensors/gps/GpsSimpleParams.hpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/AutonomyLib/include/sensors/gps/GpsSimpleParams.hpp b/AutonomyLib/include/sensors/gps/GpsSimpleParams.hpp index d060d74c..76eb62d8 100644 --- a/AutonomyLib/include/sensors/gps/GpsSimpleParams.hpp +++ b/AutonomyLib/include/sensors/gps/GpsSimpleParams.hpp @@ -10,7 +10,7 @@ namespace nervosys { namespace autonomylib { struct GpsSimpleParams { - + real_T eph_time_constant = 0.9f, epv_time_constant = 0.9f; real_T eph_initial = 100.0f, epv_initial = 100.0f; // initially fully diluted positions real_T eph_final = 0.1f, epv_final = 0.1f; // PX4 won't converge GPS sensor fusion until we get to 10% accuracty. @@ -22,6 +22,7 @@ struct GpsSimpleParams { void initializeFromSettings(const AutonomySimSettings::GpsSetting &settings) { const auto &json = settings.settings; + eph_time_constant = json.getFloat("EPH_TimeConstant", eph_time_constant); epv_time_constant = json.getFloat("EPV_TimeConstant", epv_time_constant); eph_initial = json.getFloat("EphInitial", eph_initial); @@ -30,6 +31,7 @@ struct GpsSimpleParams { epv_final = json.getFloat("EpvFinal", epv_final); eph_min_3d = json.getFloat("EphMin3d", eph_min_3d); eph_min_2d = json.getFloat("EphMin2d", eph_min_2d); + update_latency = json.getFloat("UpdateLatency", update_latency); update_frequency = json.getFloat("UpdateFrequency", update_frequency); startup_delay = json.getFloat("StartupDelay", startup_delay);