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53 lines
1.2 KiB
53 lines
1.2 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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simulate serial VectorNav AHRS |
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Usage example: |
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SERIAL5_PROTOCOL = 36 |
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AHRS_EKF_TYPE = 11 |
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EAHRS_TYPE=1 |
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sim_vehicle.py -D --console --map -A --uartF=sim:VectorNav |
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*/ |
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#pragma once |
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#include "SIM_Aircraft.h" |
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#include <SITL/SITL.h> |
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#include "SIM_SerialDevice.h" |
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namespace SITL { |
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class VectorNav : public SerialDevice { |
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public: |
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VectorNav(); |
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// update state |
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void update(void); |
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private: |
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uint32_t last_pkt1_us; |
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uint32_t last_pkt2_us; |
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void send_packet1(); |
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void send_packet2(); |
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uint64_t start_us; |
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}; |
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}
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