2010-09-06 17:16:50 -03:00
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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#ifndef AP_GPS_IMU_h
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#define AP_GPS_IMU_h
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#include <GPS.h>
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#define MAXPAYLOAD 32
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class AP_GPS_IMU : public GPS
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{
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public:
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// Methods
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AP_GPS_IMU(Stream *s);
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void init();
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void update();
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// Properties
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long roll_sensor; // how much we're turning in deg * 100
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long pitch_sensor; // our angle of attack in deg * 100
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int airspeed;
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float imu_health;
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uint8_t imu_ok;
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private:
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// Packet checksums
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uint8_t ck_a;
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uint8_t ck_b;
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uint8_t GPS_ck_a;
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uint8_t GPS_ck_b;
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uint8_t step;
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uint8_t msg_class;
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uint8_t message_num;
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uint8_t payload_length;
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uint8_t payload_counter;
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uint8_t buffer[MAXPAYLOAD];
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void join_data();
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void join_data_xplane();
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void GPS_join_data();
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void checksum(unsigned char data);
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};
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#endif
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