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51 lines
1.5 KiB
51 lines
1.5 KiB
/* |
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* Navigator_Dcm.h |
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* Copyright (C) James Goppert/ Wenyao Xie 2011 james.goppert@gmail.com/ wenyaoxie@gmail.com |
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* |
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* This file is free software: you can redistribute it and/or modify it |
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* under the terms of the GNU General Public License as published by the |
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* Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This file is distributed in the hope that it will be useful, but |
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* WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
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* See the GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#ifndef Navigator_Dcm_H |
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#define Navigator_Dcm_H |
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#include "AP_Navigator.h" |
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#include <FastSerial.h> |
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#include "AP_ControllerBlock.h" |
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#include <AP_DCM.h> |
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class RangeFinder; |
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namespace apo { |
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class Navigator_Dcm: public AP_Navigator { |
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public: |
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Navigator_Dcm(AP_Board * board, const uint16_t key, const prog_char_t * name = NULL); |
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virtual void calibrate(); |
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virtual void updateFast(float dt); |
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virtual void updateSlow(float dt); |
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void updateGpsLight(void); |
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private: |
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AP_DCM _dcm; |
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AP_Var_group _group; |
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uint16_t _imuOffsetAddress; |
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BlockLowPass _baroLowPass; |
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AP_Float _groundTemperature; |
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AP_Float _groundPressure; |
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RangeFinder * _rangeFinderDown; |
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}; |
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} // namespace apo |
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#endif // Navigator_Dcm_H |
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// vim:ts=4:sw=4:expandtab
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