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| 1 | #ifndef __GPS_H |
1 | #ifndef __GPS_H |
| 2 | #define __GPS_H |
2 | #define __GPS_H |
| 3 | 3 | ||
| 4 | #include "ubx.h" |
4 | #include "ubx.h" |
| 5 | #include "waypoints.h" |
5 | #include "waypoints.h" |
| 6 | 6 | ||
| 7 | typedef struct |
7 | typedef struct |
| 8 | { |
8 | { |
| 9 | s16 Nick; |
9 | s16 Nick; |
| 10 | s16 Roll; |
10 | s16 Roll; |
| 11 | s16 Yaw; |
11 | s16 Yaw; |
| 12 | } __attribute__((packed)) GPS_Stick_t; |
12 | } __attribute__((packed)) GPS_Stick_t; |
| 13 | 13 | ||
| 14 | #define CAM_UPDATE_AZIMUTH 0x01 |
14 | #define CAM_UPDATE_AZIMUTH 0x01 |
| 15 | #define CAM_UPDATE_ELEVATION 0x02 |
15 | #define CAM_UPDATE_ELEVATION 0x02 |
| 16 | typedef struct |
16 | typedef struct |
| 17 | { |
17 | { |
| 18 | s16 Azimuth; // angle measured clockwise from north |
18 | s16 Azimuth; // angle measured clockwise from north |
| 19 | s16 Elevation; // angle measured upwards from horizont |
19 | s16 Elevation; // angle measured upwards from horizont |
| 20 | u8 UpdateMask; |
20 | u8 UpdateMask; |
| 21 | } __attribute__((packed)) CAM_Orientation_t; |
21 | } __attribute__((packed)) CAM_Orientation_t; |
| 22 | 22 | ||
| 23 | extern CAM_Orientation_t CAM_Orientation; |
23 | extern CAM_Orientation_t CAM_Orientation; |
| 24 | extern Point_t* GPS_pWaypoint; |
24 | extern Point_t* GPS_pWaypoint; |
| - | 25 | extern u8 MaxNumberOfWaypoints; // should be 32 |
|
| - | 26 | extern u32 AbsoluteFlyingRange; // Maximum distance that the MK is not allowed to exceed - keep zero if not used |
|
| - | 27 | extern u32 AutoDescendRange; |
|
| 25 | 28 | ||
| 26 | void GPS_Init(void); |
29 | void GPS_Init(void); |
| 27 | void GPS_Navigation(gps_data_t *pGPS_Data, GPS_Stick_t* pGPS_Stick); |
30 | void GPS_Navigation(gps_data_t *pGPS_Data, GPS_Stick_t* pGPS_Stick); |
| 28 | void CalcHeadFree(void); |
31 | void CalcHeadFree(void); |
| 29 | 32 | ||
| 30 | #define EVENTFLAG_1_WP_CHANNEL 1 |
33 | #define EVENTFLAG_1_WP_CHANNEL 1 |
| 31 | #define EVENTFLAG_2_WP_CHANNEL 2 |
34 | #define EVENTFLAG_2_WP_CHANNEL 2 |
| 32 | 35 | ||
| 33 | #endif //__GPS_H |
36 | #endif //__GPS_H |
| 34 | 37 | ||
| 35 | 38 | ||