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53 lines
1.4 KiB
53 lines
1.4 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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Author: Francisco Ferreira |
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*/ |
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#pragma once |
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#include <AP_HAL/AP_HAL.h> |
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#include <AP_AHRS/AP_AHRS.h> |
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#if !HAL_MINIMIZE_FEATURES && AP_AHRS_NAVEKF_AVAILABLE |
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#include <AP_SerialManager/AP_SerialManager.h> |
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class AP_NMEA_Output { |
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public: |
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static AP_NMEA_Output* probe(); |
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/* Do not allow copies */ |
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AP_NMEA_Output(const AP_NMEA_Output &other) = delete; |
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AP_NMEA_Output &operator=(const AP_NMEA_Output&) = delete; |
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void update(); |
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private: |
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AP_NMEA_Output(); |
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uint8_t _nmea_checksum(const char *str); |
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static AP_NMEA_Output* _singleton; |
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uint8_t _num_outputs; |
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AP_HAL::UARTDriver* _uart[SERIALMANAGER_NUM_PORTS]; |
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uint16_t _last_sent; |
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}; |
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#endif // !HAL_MINIMIZE_FEATURES && AP_AHRS_NAVEKF_AVAILABLE
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