ardupilot/libraries/Desktop/support/desktop.h

#ifndef _DESKTOP_H
#define _DESKTOP_H

#include <unistd.h>
#include <sys/time.h>

enum vehicle_type {
	ArduCopter,
	APMrover2,
	ArduPlane
};

struct desktop_info {
	bool slider; // slider switch state, True means CLI mode
	struct timeval sketch_start_time;
	enum vehicle_type vehicle;
	unsigned framerate;
	float initial_height;
	bool console_mode;
};

extern struct desktop_info desktop_state;

void desktop_serial_select_setup(fd_set *fds, int *fd_high);
void sitl_input(void);
void sitl_setup(void);
int sitl_gps_pipe(void);
ssize_t sitl_gps_read(int fd, void *buf, size_t count);
void sitl_update_compass(float roll, float pitch, float yaw);
void sitl_update_gps(double latitude, double longitude, float altitude,
		     double speedN, double speedE, bool have_lock);
void sitl_update_adc(float roll, float pitch, float yaw,
		     double rollRate, double pitchRate, double yawRate,
		     double xAccel, double yAccel, double zAccel,
		     float airspeed);
void sitl_setup_adc(void);
void sitl_update_barometer(float altitude);

void sitl_simstate_send(uint8_t chan);

#endif