zr-v4/libraries/AP_GPS/AP_GPS_IMU.h

#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();
	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);
	long join_4_bytes(unsigned char Buffer[]);
};

#endif