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| Rev 153 | Rev 156 | ||
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| 6 | extern signed int GPS_Nick; |
6 | extern signed int GPS_Nick; |
| 7 | extern signed int GPS_Roll; |
7 | extern signed int GPS_Roll; |
| 8 | extern void GPS_Neutral(void); |
8 | extern void GPS_Neutral(void); |
| Line 9... | Line 9... | ||
| 9 | 9 | ||
| 10 | extern void Get_Ublox_Msg(uint8_t rx) ; |
10 | extern void Get_Ublox_Msg(uint8_t rx) ; |
| - | 11 | //extern short int Get_GPS_data(void); |
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| - | 12 | extern short int Get_Rel_Position(void); |
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| 11 | extern void Get_GPS_data(void); |
13 | extern void GPS_Save_Home(void); |
| 12 | 14 | ||
| 13 | typedef struct { |
15 | typedef struct { |
| 14 | unsigned long utm_itow; // time of week |
16 | unsigned long utm_itow; // time of week |
| Line 51... | Line 53... | ||
| 51 | long utm_alt; // hoehe in 10 cm |
53 | long utm_alt; // hoehe in 10 cm |
| 52 | unsigned long speed_gnd; // V ueber Grund in 10cm/s |
54 | unsigned long speed_gnd; // V ueber Grund in 10cm/s |
| 53 | unsigned heading; // Richtung in Grad |
55 | unsigned heading; // Richtung in Grad |
| 54 | uint8_t status; // 0: keine gueltigen Daten 1: alles ok |
56 | uint8_t status; // 0: keine gueltigen Daten 1: alles ok |
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| 55 | 57 | ||
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| - | 58 | } GPS_ABS_POSITION_t; |
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| - | 59 | ||
| - | 60 | ||
| - | 61 | typedef struct { // Struktur fuer Relative GPS Daten (bezogen z.B. auf Home Position) |
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| - | 62 | int utm_east; // UTM Ost in m |
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| - | 63 | int utm_north; // UTM Nord in m |
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| - | 64 | uint8_t status; // 0: keine gueltigen Daten 1: alles ok |
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| 56 | } GPS_POSITION_t; |
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| 57 | - | ||
| 58 | 65 | ||
| 59 | 66 | } GPS_REL_POSITION_t; |
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| 60 | /* |
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| 61 | extern NAV_VELNED_t actual_speed; |
67 | |
| 62 | extern NAV_STATUS_t actual_status; |
68 | |