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50 lines
1.3 KiB
50 lines
1.3 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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// |
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// Mavlink GPS driver which accepts gps position data from an external |
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// companion computer |
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// |
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#pragma once |
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#include <AP_HAL/AP_HAL_Boards.h> |
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#include "AP_GPS.h" |
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#include "GPS_Backend.h" |
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#ifndef AP_GPS_MAV_ENABLED |
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#define AP_GPS_MAV_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED |
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#endif |
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#if AP_GPS_MAV_ENABLED |
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class AP_GPS_MAV : public AP_GPS_Backend { |
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public: |
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using AP_GPS_Backend::AP_GPS_Backend; |
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bool read() override; |
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static bool _detect(struct MAV_detect_state &state, uint8_t data); |
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void handle_msg(const mavlink_message_t &msg) override; |
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const char *name() const override { return "MAV"; } |
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private: |
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bool _new_data; |
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uint32_t first_week; |
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JitterCorrection jitter{2000}; |
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}; |
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#endif
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