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| Rev 556 | Rev 588 | ||
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| 1 | #ifndef __GPS_H |
1 | #ifndef __GPS_H |
| 2 | #define __GPS_H |
2 | #define __GPS_H |
| 3 | 3 | ||
| 4 | #define SIMULATION_ACTIVE 0x01 |
4 | #define SIMULATION_ACTIVE 0x01 |
| 5 | #define SIMULATION_MOTOR_ON 0x02 |
5 | #define SIMULATION_MOTOR_ON 0x02 |
| 6 | #define SIMULATION_MOTOR_START 0x80 |
6 | #define SIMULATION_MOTOR_START 0x80 |
| 7 | 7 | ||
| 8 | #include "ubx.h" |
8 | #include "ubx.h" |
| 9 | #include "waypoints.h" |
9 | #include "waypoints.h" |
| 10 | 10 | ||
| 11 | typedef struct |
11 | typedef struct |
| 12 | { |
12 | { |
| 13 | s16 Nick; |
13 | s16 Nick; |
| 14 | s16 Roll; |
14 | s16 Roll; |
| 15 | // s16 Yaw; |
15 | // s16 Yaw; |
| 16 | } __attribute__((packed)) GPS_Stick_t; |
16 | } __attribute__((packed)) GPS_Stick_t; |
| 17 | 17 | ||
| 18 | #define CAM_UPDATE_AZIMUTH 0x01 |
18 | #define CAM_UPDATE_AZIMUTH 0x01 |
| 19 | #define CAM_UPDATE_ELEVATION 0x02 |
19 | #define CAM_UPDATE_ELEVATION 0x02 |
| - | 20 | #define FORCE_AZIMUTH_ROTATION 0x04 |
|
| - | 21 | ||
| 20 | typedef struct |
22 | typedef struct |
| 21 | { |
23 | { |
| 22 | s16 Azimuth; // angle in 1 deg measured clockwise from north |
24 | s16 Azimuth; // angle in 1 deg measured clockwise from north |
| 23 | s16 Elevation; // angle in 0.1 deg measured upwards from horizont |
25 | s16 Elevation; // angle in 0.1 deg measured upwards from horizont |
| 24 | u8 UpdateMask; |
26 | u8 UpdateMask; |
| 25 | } __attribute__((packed)) CAM_Orientation_t; |
27 | } __attribute__((packed)) CAM_Orientation_t; |
| 26 | 28 | ||
| 27 | extern CAM_Orientation_t CAM_Orientation; |
29 | extern CAM_Orientation_t CAM_Orientation; |
| 28 | extern Point_t* GPS_pWaypoint; |
30 | extern Point_t* GPS_pWaypoint; |
| 29 | extern u8 MaxNumberOfWaypoints; // should be 32 |
31 | extern u8 MaxNumberOfWaypoints; // should be 32 |
| 30 | extern u16 AbsoluteFlyingRange_m; // Maximum distance that the MK is not allowed to exceed - keep zero if not used |
32 | extern u16 AbsoluteFlyingRange_m; // Maximum distance 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 |
33 | extern s16 AbsoluteFlyingAltitude; // Maximum altitude that the MK is not allowed to exceed - keep zero if not used |
| 32 | extern u16 AutoDescendRange_m; |
34 | extern u16 AutoDescendRange_m; |
| 33 | extern GPS_Pos_t SimulationPosition; // the current GPS position in simulated mode |
35 | extern GPS_Pos_t SimulationPosition; // the current GPS position in simulated mode |
| 34 | extern u8 SimulationFlags; |
36 | extern u8 SimulationFlags; |
| 35 | 37 | ||
| 36 | void GPS_Init(void); |
38 | void GPS_Init(void); |
| 37 | void GPS_Navigation(gps_data_t *pGPS_Data, GPS_Stick_t* pGPS_Stick); |
39 | void GPS_Navigation(gps_data_t *pGPS_Data, GPS_Stick_t* pGPS_Stick); |
| 38 | void CalcHeadFree(void); |
40 | void CalcHeadFree(void); |
| 39 | void UBX_Setup(void); |
41 | void UBX_Setup(void); |
| 40 | 42 | ||
| 41 | #define EVENTFLAG_1_WP_CHANNEL 1 |
43 | #define EVENTFLAG_1_WP_CHANNEL 1 |
| 42 | #define EVENTFLAG_2_WP_CHANNEL 2 |
44 | #define EVENTFLAG_2_WP_CHANNEL 2 |
| 43 | 45 | ||
| 44 | #endif //__GPS_H |
46 | #endif //__GPS_H |
| 45 | 47 | ||
| 46 | 48 | ||