You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
44 lines
864 B
44 lines
864 B
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
|
#ifndef AP_GPS_IMU_h |
|
#define AP_GPS_IMU_h |
|
|
|
#include <GPS.h> |
|
#define MAXPAYLOAD 32 |
|
|
|
class AP_GPS_IMU : public GPS |
|
{ |
|
public: |
|
|
|
// Methods |
|
AP_GPS_IMU(Stream *s); |
|
void init(); |
|
void update(); |
|
|
|
// Properties |
|
long roll_sensor; // how much we're turning in deg * 100 |
|
long pitch_sensor; // our angle of attack in deg * 100 |
|
int airspeed; |
|
float imu_health; |
|
uint8_t imu_ok; |
|
|
|
private: |
|
// Packet checksums |
|
uint8_t ck_a; |
|
uint8_t ck_b; |
|
uint8_t GPS_ck_a; |
|
uint8_t GPS_ck_b; |
|
|
|
uint8_t step; |
|
uint8_t msg_class; |
|
uint8_t message_num; |
|
uint8_t payload_length; |
|
uint8_t payload_counter; |
|
uint8_t buffer[MAXPAYLOAD]; |
|
|
|
void join_data(); |
|
void join_data_xplane(); |
|
void GPS_join_data(); |
|
void checksum(unsigned char data); |
|
}; |
|
|
|
#endif
|
|
|