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Rev | Author | Line No. | Line |
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1 | ingob | 1 | #ifndef __GPS_H |
2 | #define __GPS_H |
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3 | |||
556 | holgerb | 4 | #define SIMULATION_ACTIVE 0x01 |
5 | #define SIMULATION_MOTOR_ON 0x02 |
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6 | #define SIMULATION_MOTOR_START 0x80 |
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7 | |||
215 | killagreg | 8 | #include "ubx.h" |
41 | ingob | 9 | #include "waypoints.h" |
1 | ingob | 10 | |
41 | ingob | 11 | typedef struct |
1 | ingob | 12 | { |
41 | ingob | 13 | s16 Nick; |
14 | s16 Roll; |
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419 | holgerb | 15 | // s16 Yaw; |
41 | ingob | 16 | } __attribute__((packed)) GPS_Stick_t; |
1 | ingob | 17 | |
280 | killagreg | 18 | #define CAM_UPDATE_AZIMUTH 0x01 |
19 | #define CAM_UPDATE_ELEVATION 0x02 |
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588 | holgerb | 20 | #define FORCE_AZIMUTH_ROTATION 0x04 |
21 | |||
278 | killagreg | 22 | typedef struct |
23 | { |
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499 | killagreg | 24 | s16 Azimuth; // angle in 1 deg measured clockwise from north |
25 | s16 Elevation; // angle in 0.1 deg measured upwards from horizont |
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280 | killagreg | 26 | u8 UpdateMask; |
278 | killagreg | 27 | } __attribute__((packed)) CAM_Orientation_t; |
28 | |||
29 | extern CAM_Orientation_t CAM_Orientation; |
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280 | killagreg | 30 | extern Point_t* GPS_pWaypoint; |
355 | holgerb | 31 | extern u8 MaxNumberOfWaypoints; // should be 32 |
532 | holgerb | 32 | extern u16 AbsoluteFlyingRange_m; // Maximum distance that the MK is not allowed to exceed - keep zero if not used |
369 | holgerb | 33 | extern s16 AbsoluteFlyingAltitude; // Maximum altitude that the MK is not allowed to exceed - keep zero if not used |
532 | holgerb | 34 | extern u16 AutoDescendRange_m; |
556 | holgerb | 35 | extern GPS_Pos_t SimulationPosition; // the current GPS position in simulated mode |
604 | holgerb | 36 | extern GPS_Pos_t GPS_FailsafePosition; |
556 | holgerb | 37 | extern u8 SimulationFlags; |
646 | holgerb | 38 | extern u8 MK_FlyingWithGps; |
660 | holgerb | 39 | extern u8 CurrentlyFlyingWaypoints; |
663 | holgerb | 40 | extern void ConfirmGpsUpdateRate(u16); |
1 | ingob | 41 | |
41 | ingob | 42 | void GPS_Init(void); |
215 | killagreg | 43 | void GPS_Navigation(gps_data_t *pGPS_Data, GPS_Stick_t* pGPS_Stick); |
222 | holgerb | 44 | void CalcHeadFree(void); |
714 | holgerb | 45 | unsigned char UBX_Setup(void); |
1 | ingob | 46 | |
258 | holgerb | 47 | #define EVENTFLAG_1_WP_CHANNEL 1 |
48 | #define EVENTFLAG_2_WP_CHANNEL 2 |
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49 | |||
41 | ingob | 50 | #endif //__GPS_H |
1 | ingob | 51 |