| 8,7 → 8,9 |
|---|
| extern void GPS_Neutral(void); |
| |
| extern void Get_Ublox_Msg(uint8_t rx) ; |
| extern void Get_GPS_data(void); |
| //extern short int Get_GPS_data(void); |
| extern short int Get_Rel_Position(void); |
| extern void GPS_Save_Home(void); |
| |
| typedef struct { |
| unsigned long utm_itow; // time of week |
| 53,14 → 55,18 |
|---|
| unsigned heading; // Richtung in Grad |
| uint8_t status; // 0: keine gueltigen Daten 1: alles ok |
| |
| } GPS_POSITION_t; |
| } GPS_ABS_POSITION_t; |
| |
| |
| typedef struct { // Struktur fuer Relative GPS Daten (bezogen z.B. auf Home Position) |
| int utm_east; // UTM Ost in m |
| int utm_north; // UTM Nord in m |
| uint8_t status; // 0: keine gueltigen Daten 1: alles ok |
| |
| /* |
| extern NAV_VELNED_t actual_speed; |
| extern NAV_STATUS_t actual_status; |
| extern NAV_POSUTM_t actual_position; |
| */ |
| extern GPS_POSITION_t gps_act_position; |
| } GPS_REL_POSITION_t; |
| |
| |
| extern GPS_ABS_POSITION_t gps_act_position; |
| extern GPS_ABS_POSITION_t gps_home_position; |
| extern GPS_REL_POSITION_t gps_rel_act_position; |
| extern unsigned int cnt0,cnt1,cnt2; |