ardupilot/libraries/AP_GPS/AP_GPS_IMU.h

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
#ifndef AP_GPS_IMU_h
#define AP_GPS_IMU_h
#include <GPS.h>
#define MAXPAYLOAD 32
class AP_GPS_IMU : public GPS
{
public:
// Methods
AP_GPS_IMU(Stream *s);
void init();
void update();
// Properties
long roll_sensor; // how much we're turning in deg * 100
long pitch_sensor; // our angle of attack in deg * 100
int airspeed;
float imu_health;
uint8_t imu_ok;
private:
// Packet checksums
uint8_t ck_a;
uint8_t ck_b;
uint8_t GPS_ck_a;
uint8_t GPS_ck_b;
uint8_t step;
uint8_t msg_class;
uint8_t message_num;
uint8_t payload_length;
uint8_t payload_counter;
uint8_t buffer[MAXPAYLOAD];
void join_data();
void join_data_xplane();
void GPS_join_data();
void checksum(unsigned char data);
};
#endif