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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 | ||
- | 14 | #define CAM_UPDATE_AZIMUTH 0x01 |
|
13 | 15 | #define CAM_UPDATE_ELEVATION 0x02 |
|
14 | typedef struct |
16 | typedef struct |
15 | { |
17 | { |
16 | s16 Azimuth; // angle measured clockwise from north |
18 | s16 Azimuth; // angle measured clockwise from north |
17 | s16 Elevation; // angle measured upwards from horizont |
19 | s16 Elevation; // angle measured upwards from horizont |
18 | u8 State; // NEWDATA, PROCESSED, INVALID |
20 | u8 UpdateMask; |
19 | } __attribute__((packed)) CAM_Orientation_t; |
21 | } __attribute__((packed)) CAM_Orientation_t; |
20 | 22 | ||
21 | extern CAM_Orientation_t CAM_Orientation; |
23 | extern CAM_Orientation_t CAM_Orientation; |
22 | extern Waypoint_t* GPS_pWaypoint; |
24 | extern Point_t* GPS_pWaypoint; |
23 | 25 | ||
24 | void GPS_Init(void); |
26 | void GPS_Init(void); |
25 | void GPS_Navigation(gps_data_t *pGPS_Data, GPS_Stick_t* pGPS_Stick); |
27 | void GPS_Navigation(gps_data_t *pGPS_Data, GPS_Stick_t* pGPS_Stick); |
26 | void CalcHeadFree(void); |
28 | void CalcHeadFree(void); |
27 | 29 | ||
28 | #define EVENTFLAG_1_WP_CHANNEL 1 |
30 | #define EVENTFLAG_1_WP_CHANNEL 1 |
29 | #define EVENTFLAG_2_WP_CHANNEL 2 |
31 | #define EVENTFLAG_2_WP_CHANNEL 2 |
30 | 32 | ||
31 | #endif //__GPS_H |
33 | #endif //__GPS_H |
32 | 34 | ||
33 | 35 |