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#ifndef __GPS_H
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#ifndef __GPS_H
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#define __GPS_H
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#define __GPS_H
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#include "ubx.h"
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#include "ubx.h"
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#include "waypoints.h"
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#include "waypoints.h"
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typedef struct
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typedef struct
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{
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{
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        s16 Nick;
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        s16 Nick;
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        s16 Roll;
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        s16 Roll;
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        s16 Yaw;
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        s16 Yaw;
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}  __attribute__((packed)) GPS_Stick_t;
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}  __attribute__((packed)) GPS_Stick_t;
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typedef struct
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{
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        s16 Azimuth;            // angle measured clockwise from north
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        s16 Elevation;          // angle measured upwards from horizont
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        u8 State;                       // NEWDATA, PROCESSED, INVALID
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} __attribute__((packed)) CAM_Orientation_t;
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extern CAM_Orientation_t CAM_Orientation;
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extern Waypoint_t* GPS_pWaypoint;
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extern Waypoint_t* GPS_pWaypoint;
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void GPS_Init(void);
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void GPS_Init(void);
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void GPS_Navigation(gps_data_t *pGPS_Data, GPS_Stick_t* pGPS_Stick);
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void GPS_Navigation(gps_data_t *pGPS_Data, GPS_Stick_t* pGPS_Stick);
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void CalcHeadFree(void);
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void CalcHeadFree(void);
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#define EVENTFLAG_1_WP_CHANNEL    1
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#define EVENTFLAG_1_WP_CHANNEL    1
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#define EVENTFLAG_2_WP_CHANNEL    2
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#define EVENTFLAG_2_WP_CHANNEL    2
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#endif //__GPS_H
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#endif //__GPS_H
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