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| 1 | #ifndef __GPS_H |
1 | #ifndef __GPS_H |
| 2 | #define __GPS_H |
2 | #define __GPS_H |
| - | 3 | ||
| - | 4 | #define SIMULATION_ACTIVE 0x01 |
|
| - | 5 | #define SIMULATION_MOTOR_ON 0x02 |
|
| - | 6 | #define SIMULATION_MOTOR_START 0x80 |
|
| 3 | 7 | ||
| 4 | #include "ubx.h" |
8 | #include "ubx.h" |
| 5 | #include "waypoints.h" |
9 | #include "waypoints.h" |
| 6 | 10 | ||
| 7 | typedef struct |
11 | typedef struct |
| 8 | { |
12 | { |
| 9 | s16 Nick; |
13 | s16 Nick; |
| 10 | s16 Roll; |
14 | s16 Roll; |
| 11 | // s16 Yaw; |
15 | // s16 Yaw; |
| 12 | } __attribute__((packed)) GPS_Stick_t; |
16 | } __attribute__((packed)) GPS_Stick_t; |
| 13 | 17 | ||
| 14 | #define CAM_UPDATE_AZIMUTH 0x01 |
18 | #define CAM_UPDATE_AZIMUTH 0x01 |
| 15 | #define CAM_UPDATE_ELEVATION 0x02 |
19 | #define CAM_UPDATE_ELEVATION 0x02 |
| 16 | typedef struct |
20 | typedef struct |
| 17 | { |
21 | { |
| 18 | s16 Azimuth; // angle in 1 deg measured clockwise from north |
22 | s16 Azimuth; // angle in 1 deg measured clockwise from north |
| 19 | s16 Elevation; // angle in 0.1 deg measured upwards from horizont |
23 | s16 Elevation; // angle in 0.1 deg measured upwards from horizont |
| 20 | u8 UpdateMask; |
24 | u8 UpdateMask; |
| 21 | } __attribute__((packed)) CAM_Orientation_t; |
25 | } __attribute__((packed)) CAM_Orientation_t; |
| 22 | 26 | ||
| 23 | extern CAM_Orientation_t CAM_Orientation; |
27 | extern CAM_Orientation_t CAM_Orientation; |
| 24 | extern Point_t* GPS_pWaypoint; |
28 | extern Point_t* GPS_pWaypoint; |
| 25 | extern u8 MaxNumberOfWaypoints; // should be 32 |
29 | extern u8 MaxNumberOfWaypoints; // should be 32 |
| 26 | extern u16 AbsoluteFlyingRange_m; // Maximum distance that the MK is not allowed to exceed - keep zero if not used |
30 | extern u16 AbsoluteFlyingRange_m; // Maximum distance that the MK is not allowed to exceed - keep zero if not used |
| 27 | extern s16 AbsoluteFlyingAltitude; // Maximum altitude that the MK is not allowed to exceed - keep zero if not used |
31 | extern s16 AbsoluteFlyingAltitude; // Maximum altitude that the MK is not allowed to exceed - keep zero if not used |
| 28 | extern u16 AutoDescendRange_m; |
32 | extern u16 AutoDescendRange_m; |
| - | 33 | extern GPS_Pos_t SimulationPosition; // the current GPS position in simulated mode |
|
| - | 34 | extern u8 SimulationFlags; |
|
| 29 | 35 | ||
| 30 | void GPS_Init(void); |
36 | void GPS_Init(void); |
| 31 | void GPS_Navigation(gps_data_t *pGPS_Data, GPS_Stick_t* pGPS_Stick); |
37 | void GPS_Navigation(gps_data_t *pGPS_Data, GPS_Stick_t* pGPS_Stick); |
| 32 | void CalcHeadFree(void); |
38 | void CalcHeadFree(void); |
| 33 | void UBX_Setup(void); |
39 | void UBX_Setup(void); |
| 34 | 40 | ||
| 35 | #define EVENTFLAG_1_WP_CHANNEL 1 |
41 | #define EVENTFLAG_1_WP_CHANNEL 1 |
| 36 | #define EVENTFLAG_2_WP_CHANNEL 2 |
42 | #define EVENTFLAG_2_WP_CHANNEL 2 |
| 37 | 43 | ||
| 38 | #endif //__GPS_H |
44 | #endif //__GPS_H |
| 39 | 45 | ||
| 40 | 46 | ||