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41 lines
1.2 KiB
41 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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// GPS proxy driver for APM on PX4 platforms |
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// Code by Holger Steinhaus |
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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_GPS.h" |
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#include "GPS_Backend.h" |
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 |
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#include <modules/uORB/topics/vehicle_gps_position.h> |
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class AP_GPS_PX4 : public AP_GPS_Backend { |
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public: |
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AP_GPS_PX4(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port); |
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~AP_GPS_PX4(); |
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bool read(); |
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private: |
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int _gps_sub; |
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struct vehicle_gps_position_s _gps_pos; |
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}; |
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#endif // CONFIG_HAL_BOARD
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