mirror of https://github.com/ArduPilot/ardupilot
28 lines
714 B
C
28 lines
714 B
C
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#include <MsgHandler.h>
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#ifndef AP_MSGHANDLER_GPS_BASE_H
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#define AP_MSGHANDLER_GPS_BASE_H
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class MsgHandler_GPS_Base : public MsgHandler
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{
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public:
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MsgHandler_GPS_Base(log_Format &_f, DataFlash_Class &_dataflash,
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uint64_t &_last_timestamp_usec, AP_GPS &_gps,
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uint32_t &_ground_alt_cm, float &_rel_altitude)
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: MsgHandler(_f, _dataflash, _last_timestamp_usec),
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gps(_gps), ground_alt_cm(_ground_alt_cm),
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rel_altitude(_rel_altitude) { };
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protected:
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void update_from_msg_gps(uint8_t imu_offset, uint8_t *data, bool responsible_for_relalt);
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private:
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AP_GPS &gps;
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uint32_t &ground_alt_cm;
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float &rel_altitude;
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};
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#endif
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