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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 | ||