ardupilot/libraries/AP_GPS/AP_GPS_MSP.h

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
//
// MSP GPS driver which accepts gps position data from an external source
//
#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include "AP_GPS.h"
#include "GPS_Backend.h"
#if HAL_MSP_GPS_ENABLED
class AP_GPS_MSP : public AP_GPS_Backend
{
public:
AP_GPS_MSP(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port);
bool read() override;
void handle_msp(const MSP::msp_gps_data_message_t &pkt) override;
const char *name() const override { return "MSP"; }
bool get_lag(float &lag_sec) const override;
private:
bool new_data;
};
#endif // HAL_MSP_GPS_ENABLED