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27 lines
714 B
27 lines
714 B
#include <MsgHandler.h> |
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#ifndef AP_MSGHANDLER_GPS_BASE_H |
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#define AP_MSGHANDLER_GPS_BASE_H |
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class MsgHandler_GPS_Base : public MsgHandler |
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{ |
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public: |
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MsgHandler_GPS_Base(log_Format &_f, DataFlash_Class &_dataflash, |
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uint64_t &_last_timestamp_usec, AP_GPS &_gps, |
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uint32_t &_ground_alt_cm, float &_rel_altitude) |
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: MsgHandler(_f, _dataflash, _last_timestamp_usec), |
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gps(_gps), ground_alt_cm(_ground_alt_cm), |
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rel_altitude(_rel_altitude) { }; |
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protected: |
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void update_from_msg_gps(uint8_t imu_offset, uint8_t *data, bool responsible_for_relalt); |
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private: |
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AP_GPS &gps; |
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uint32_t &ground_alt_cm; |
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float &rel_altitude; |
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}; |
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#endif |
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