Subversion Repositories NaviCtrl

#ifndef __GPS_H

#define __GPS_H

#include "ubx.h"

#include "waypoints.h"

typedef struct

{

        s16 Nick;

        s16 Roll;

//      s16 Yaw;

}  __attribute__((packed)) GPS_Stick_t;

#define CAM_UPDATE_AZIMUTH              0x01

#define CAM_UPDATE_ELEVATION    0x02

typedef struct

{

        s16 Azimuth;            // angle measured clockwise from north

        s16 Elevation;          // angle measured upwards from horizont

        u8 UpdateMask;

} __attribute__((packed)) CAM_Orientation_t;

extern CAM_Orientation_t CAM_Orientation;

extern Point_t* GPS_pWaypoint;

extern u8 MaxNumberOfWaypoints;    // should be 32

extern u16 AbsoluteFlyingRange;    // Maximum distance that the MK is not allowed to exceed - keep zero if not used

extern s16 AbsoluteFlyingAltitude; // Maximum altitude that the MK is not allowed to exceed - keep zero if not used

extern u16 AutoDescendRange;

void GPS_Init(void);

void GPS_Navigation(gps_data_t *pGPS_Data, GPS_Stick_t* pGPS_Stick);

void CalcHeadFree(void);

void EnableNewWpHeading(void);

#define EVENTFLAG_1_WP_CHANNEL    1

#define EVENTFLAG_2_WP_CHANNEL    2

#endif //__GPS_H