From 167dd7f44764af8a3ef468abb147d47e9e9959a8 Mon Sep 17 00:00:00 2001
From: Valentin Bugrov <valentin.bugrov@inertiallabs.com>
Date: Mon, 16 Sep 2024 15:07:23 +0400
Subject: [PATCH] SITL: unify names in ILabs sim

---
 libraries/SITL/SIM_InertialLabs.cpp | 12 ++++++------
 libraries/SITL/SIM_InertialLabs.h   | 10 +++++-----
 2 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/libraries/SITL/SIM_InertialLabs.cpp b/libraries/SITL/SIM_InertialLabs.cpp
index 9f4fd26fe3ae7..632254fc392fe 100644
--- a/libraries/SITL/SIM_InertialLabs.cpp
+++ b/libraries/SITL/SIM_InertialLabs.cpp
@@ -34,7 +34,7 @@ void InertialLabs::send_packet(void)
     const auto gps_tow = GPS_Backend::gps_time();
 
     // 0x01 GPS INS Time (round)
-    pkt.gps_ins_time_ms = gps_tow.ms;
+    pkt.gnss_ins_time_ms = gps_tow.ms;
 
     // 0x23 Accelerometer data HR
     pkt.accel_data_hr.x = (fdm.yAccel / GRAVITY_MSS) * 1.0e6;  // g*1.0e6
@@ -119,9 +119,9 @@ void InertialLabs::send_packet(void)
     pkt.ins_sol_status = 0; // INS solution is good
 
     pkt.gnss_new_data = 0;
-    if (packets_sent % gps_frequency == 0) {
+    if (packets_sent % gnss_frequency == 0) {
         // 0x3C GPS week
-        pkt.gps_week = gps_tow.week;
+        pkt.gnss_week = gps_tow.week;
 
         // 0x4A GNSS extended info
         pkt.gnss_extended_info.fix_type = 2; // 3D fix
@@ -131,9 +131,9 @@ void InertialLabs::send_packet(void)
         pkt.num_sats = 32;
 
         // 0x30 GNSS Position
-        pkt.gps_position.lat = fdm.latitude * 1e7;  // deg*1.0e7
-        pkt.gps_position.lon = fdm.longitude * 1e7; // deg*1.0e7
-        pkt.gps_position.alt = fdm.altitude * 1e2;  // m*100
+        pkt.gnss_position.lat = fdm.latitude * 1e7;  // deg*1.0e7
+        pkt.gnss_position.lon = fdm.longitude * 1e7; // deg*1.0e7
+        pkt.gnss_position.alt = fdm.altitude * 1e2;  // m*100
 
         // 0x32 GNSS Velocity, Track over ground
         Vector2d track{fdm.speedN,fdm.speedE};
diff --git a/libraries/SITL/SIM_InertialLabs.h b/libraries/SITL/SIM_InertialLabs.h
index 462793360cbf0..e30054270e118 100644
--- a/libraries/SITL/SIM_InertialLabs.h
+++ b/libraries/SITL/SIM_InertialLabs.h
@@ -63,8 +63,8 @@ class InertialLabs : public SerialDevice
             0x3b, 0x30, 0x32, 0x3e, 0x36, 0x41, 0xc0, 0x28, 0x86, 0x8a, 0x8d, 0x50, 0x52,
             0x5a, 0x33, 0x3a, 0x40, 0x42, 0x54
         };
-        uint32_t gps_ins_time_ms; // ms since start of GPS week for IMU data
-        uint16_t gps_week;
+        uint32_t gnss_ins_time_ms; // ms since start of GPS week for IMU data
+        uint16_t gnss_week;
         vec3_32_t accel_data_hr; // g * 1e6
         vec3_32_t gyro_data_hr; // deg/s * 1e5
         struct PACKED {
@@ -92,7 +92,7 @@ class InertialLabs : public SerialDevice
             int32_t lat; // deg*1e7
             int32_t lon; // deg*1e7
             int32_t alt; // m*100, AMSL
-        } gps_position;
+        } gnss_position;
         struct PACKED {
             int32_t hor_speed; // m/s*100
             uint16_t track_over_ground; // deg*100
@@ -128,8 +128,8 @@ class InertialLabs : public SerialDevice
 
     uint32_t last_pkt_us;
     const uint16_t pkt_rate_hz = 200;
-    const uint16_t gps_rate_hz = 10;
-    const uint16_t gps_frequency = pkt_rate_hz / gps_rate_hz;
+    const uint16_t gnss_rate_hz = 10;
+    const uint16_t gnss_frequency = pkt_rate_hz / gnss_rate_hz;
     uint32_t packets_sent;
 };